Ackermann drive AMCL Localization

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Hello,

I want to integrate Nav2 on a vehicle with an Ackermann drive.
For localization, I plan to use the AMCL system, but for the robot_model_type parameter, I only found options for diff or omni drive. What would be the recommended approach? Should I use diff drive and adjust the alpha variables? Are there any better alternatives?

Thank you,
Stefan

2

Hi, yes I’d say that if you don’t want to write a motion model adapted to your robot, then using the diff drive model can provide acceptable results.

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