chibi18_2's People
chibi18_2's Issues
パーティクルが窓付近(D館地図の四隅)に近寄らない
[ファイル]
localizer.cpp
[原因]
謎
GlobalPath改善
[問題点]
壁際に寄った経路になる
[解決策]
壁付近のコストを上げる
コスト自体は実装済み(Cell::cost)なので、それをいい感じに設定する処理をつくる
localizer初期化改良
初期位置をあとからrviz上で与えられるようにする
local_plannerに旋回を実装する
[内容]
目標地点到着時に指定した角度を向くようにする
estimated_poseが荒ぶる
[ファイル]
localizer.cpp
[原因]
重み付き平均の式が間違っている?
DWAの挙動が変
[問題点]
起動直後、障害物が近くにあると動かない。動いても振動的
[解決策]
とりあえずパラメータをいじる
新評価関数の導入
global_path_plannerが落ちる
[内容]
走行中、たまにglobal_path_plannerが落ちる.条件不明
参照点取得のデバッグ
[ファイル]
localizer.cpp
[問題点]
パーティクルフィルタが機能していない
[原因?]
残差平方和がやけに大きい
mapからの参照点取得ができていない疑惑
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