From 427c0dff36fe1d5f19b508699f01ea151546d73d Mon Sep 17 00:00:00 2001
From: Ethan <jiaao@student.unimelb.edu.au>
Date: Wed, 14 Aug 2024 14:06:46 +0800
Subject: [PATCH] amcl change
---
catkin_ws/src/asclinic_pkg/launch/amcl.launch | 4 +++-
catkin_ws/src/asclinic_pkg/launch/forklift2.launch | 7 ++-----
catkin_ws/src/asclinic_pkg/param/amcl_params.yaml | 2 +-
catkin_ws/src/asclinic_pkg/src/forklift/control_node.cpp | 2 +-
4 files changed, 7 insertions(+), 8 deletions(-)
diff --git a/catkin_ws/src/asclinic_pkg/launch/amcl.launch b/catkin_ws/src/asclinic_pkg/launch/amcl.launch
index 0ac731ec..90dd84ed 100644
--- a/catkin_ws/src/asclinic_pkg/launch/amcl.launch
+++ b/catkin_ws/src/asclinic_pkg/launch/amcl.launch
@@ -8,13 +8,15 @@
<!-- 静态 TF 变换: odom 到 base_link -->
<node pkg="tf2_ros" type="static_transform_publisher" name="odom_to_base" args="0 0 0 0 0 0 odom base_link" />
+ <node pkg="tf2_ros" type="static_transform_publisher" name="map_odom_broadcaster"
+ args="0 0 0 0 0 0 map odom"/>
<!-- 启动 AMCL 节点 -->
<node name="amcl" pkg="amcl" type="amcl" output="screen">
<param name="use_map_topic" value="true" />
<param name="odom_frame_id" value="odom" />
<param name="base_frame_id" value="base_link" />
<param name="global_frame_id" value="map" />
- <param name="scan_topic" value="/asc/scan" />
+ <remap from="scan" to="/asc/scan"/>
<rosparam file="$(find asclinic_pkg)/param/amcl_params.yaml" command="load" />
</node>
diff --git a/catkin_ws/src/asclinic_pkg/launch/forklift2.launch b/catkin_ws/src/asclinic_pkg/launch/forklift2.launch
index 489693bf..0466f2fa 100644
--- a/catkin_ws/src/asclinic_pkg/launch/forklift2.launch
+++ b/catkin_ws/src/asclinic_pkg/launch/forklift2.launch
@@ -7,11 +7,7 @@
/>
<!-- Launch the I2C for Motors node -->
- <node
- pkg="asclinic_pkg"
- type="odometry_new"
- name="odometry_new"
- />
+
<!-- Launch the control node -->
<node
@@ -35,4 +31,5 @@
<param name="angle_compensate" type="bool" value="true"/>
</node>
</group>
+
</launch>
diff --git a/catkin_ws/src/asclinic_pkg/param/amcl_params.yaml b/catkin_ws/src/asclinic_pkg/param/amcl_params.yaml
index 97356469..852c6334 100644
--- a/catkin_ws/src/asclinic_pkg/param/amcl_params.yaml
+++ b/catkin_ws/src/asclinic_pkg/param/amcl_params.yaml
@@ -6,7 +6,7 @@ max_particles: 2000
kld_err: 0.05
kld_z: 0.99
update_min_d: 0.2
-update_min_a: 0.2
+update_min_a: 0.1
resample_interval: 1
transform_tolerance: 0.5
diff --git a/catkin_ws/src/asclinic_pkg/src/forklift/control_node.cpp b/catkin_ws/src/asclinic_pkg/src/forklift/control_node.cpp
index f917c59e..f92b691d 100644
--- a/catkin_ws/src/asclinic_pkg/src/forklift/control_node.cpp
+++ b/catkin_ws/src/asclinic_pkg/src/forklift/control_node.cpp
@@ -84,7 +84,7 @@ void pending(){
void pureRotation(float flag) {
- float rotating_pwm = 10;
+ float rotating_pwm = 15;
float right;
float left;
if (flag > 0) {
--
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