ekfvmap

ScanMatching. More...

ScanMatching.

This driver implements segment-based EKF localization:

"Mobile Robot Localization and Map Building: A Multisensor Fusion Approach" J.A. Castellanos and J.D. Tardós Kluwer Academic Publishers, Boston, 1999 ISBN 0-7923-7789-3

Compile-time dependencies
Provides
Requires
Configuration requests
Configuration file options
Example
# Using degrees
driver
(
  name "ekfvmap"
  provides ["position2d:1" "localize:0" "covariance:::0"]
  requires ["position2d:0" "laser:0" "map:0"]

  max_laser_range 31.9
  laser_noise [0.004 0.5]
  odom_noise  [0.4 0.2 10]
  robot_pose  [-49 -39 0]
  robot_pose_initial_error [1.0 1.0 20]
  # mapfile "upc.vec"
  # Use either "requires" or "mapfile"

  # truth_model "robot"
)

Author:
J.A. Castellanos, J.D. Tardós (underlying algorithm), Mayte Lázaro (code), A. Mosteo (player integration)