Exercise 3.12 - offset btw map & laser(topic: /map)

HI, I am at the exercise 3.12 where i had the husky bot to make circles for lower covariance from /amcl_pose; but after trying many times and i always land on an offset between the map(/map) and the laser(/scan) even when all 3 covariance are < 0.05

The amcl node come from the command: roslaunch husky_navigation amcl_demo.launch

Hello @hammer,

Try to do an square movement (with some translation) instead of a circle, since it is better for localizing the robot. I believe this should fix this offset issue.


i had the same problem and got the solution when i made the following changes to the parameters of amcl node


    <param name="min_particles" value="500"/>
    <param name="max_particles" value="2000"/>


    <param name="min_particles" value="2000"/>
    <param name="max_particles" value="10000"/>

Increasing the number of particles to 10000 gave me the right result (that is no offset) every time. I suppose this gave the program more data to work on, compared to the mere 2000 max particles we were working with initially.

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