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fix(craic_localization): optimize SLAM and AMCL parameters for 4x4m field

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gmapping: shrink map bounds from 20x20m to 5x5m (xmin/max: -0.5/4.5), increase grid resolution from 5cm to 2cm (delta: 0.02), more particles (50), tighter update thresholds (linear 0.1, angular 0.2)

amcl: raise motion noise 10x (alpha1-2,5: 0.005->0.05, alpha3-4: 0.1) to stop blindly trusting rf2o, clamp laser range to 5m, tighten likelihood window to 1.5m, reduce update thresholds (d: 0.02, a: 0.03), disable random particle injection (recovery_alpha: 0.0)

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
This commit is contained in:
FallenSigh
2026-06-19 06:45:40 +08:00
parent 8ecbfd759e
commit 752f78f0ad
2 changed files with 28 additions and 26 deletions
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26
ros2/src/craic_localization/config/amcl.yaml
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@@ -19,12 +19,12 @@ amcl:
odom_frame_id: "odom" odom_frame_id: "odom"
scan_topic: "scan" scan_topic: "scan"
# ===== 运动模型噪声（按里程计实际精度调）===== # ===== 运动模型噪声 =====
alpha1: 0.005 alpha1: 0.05
alpha2: 0.005 alpha2: 0.05
alpha3: 0.005 alpha3: 0.1
alpha4: 0.005 alpha4: 0.1
alpha5: 0.005 alpha5: 0.05
# ===== 粒子滤波 ===== # ===== 粒子滤波 =====
min_particles: 500 min_particles: 500
@@ -32,21 +32,25 @@ amcl:
pf_err: 0.05 pf_err: 0.05
resample_interval: 5 resample_interval: 5
# ===== 激光模型（匹配 TminiPro：12m）===== # ===== 激光模型（匹配 5×5m 边界）=====
laser_model_type: "likelihood_field" laser_model_type: "likelihood_field"
laser_max_range: 12.0 laser_max_range: 5.0
laser_min_range: -1.0 laser_min_range: -1.0
max_beams: 500 max_beams: 500
sigma_hit: 0.05 sigma_hit: 0.05
z_hit: 0.5 z_hit: 0.5
z_rand: 0.03 z_rand: 0.03
laser_likelihood_max_dist: 2.0 laser_likelihood_max_dist: 1.5
# ===== 更新策略 ===== # ===== 更新策略 =====
update_min_d: 0.05 update_min_d: 0.02
update_min_a: 0.05 update_min_a: 0.03
transform_tolerance: 0.5 transform_tolerance: 0.5
# ===== 恢复：小场地关闭随机粒子注入 =====
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0
# ===== 初始位姿（按机器人在场地中的起始点设置；可被 launch 覆盖）===== # ===== 初始位姿（按机器人在场地中的起始点设置；可被 launch 覆盖）=====
set_initial_pose: true set_initial_pose: true
initial_pose: initial_pose:

28
ros2/src/craic_localization/config/gmapping.yaml
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@@ -1,8 +1,6 @@
# gmapping(slam_gmapping) 建图参数 —— 改自 lzu_robot/src/slam_gmapping/params/slam_gmapping.yaml # gmapping(slam_gmapping) 建图参数 —— 为 4×4m 场地优化
# 帧：base_frame=base_footprint（与 chassis_odometry 一致），odom_frame=odom，map_frame=map # 帧：base_frame=base_footprint, odom_frame=odom, map_frame=map
# 适配 385×385cm 小场地：maxUrange 4m 足够覆盖；delta 0.05 = 5cm 栅格 # 地图缩减到 5×5m（场地 4×4m + 各 0.5m 余量），栅格分辨率 2cm
# 用 /** 通配键确保参数无论节点全限定名如何都能生效（lzu 用 /slam_gmapping 键，
# 其 TF 树恰好有 base_link 才掩盖了键不匹配、参数全默认的问题；我们没有 base_link 会直接报错）
/**: /**:
ros__parameters: ros__parameters:
base_frame: base_footprint base_frame: base_footprint
@@ -10,11 +8,11 @@
map_frame: map map_frame: map
map_update_interval: 5.0 map_update_interval: 5.0
maxUrange: 4.0 maxUrange: 4.0
maxRange: 6.0 maxRange: 5.0
delta: 0.05 delta: 0.02
particles: 30 particles: 50
linearUpdate: 0.3 linearUpdate: 0.1
angularUpdate: 0.5 angularUpdate: 0.2
temporalUpdate: 1.0 temporalUpdate: 1.0
resampleThreshold: 0.5 resampleThreshold: 0.5
minimum_score: 0.0 minimum_score: 0.0
@@ -36,11 +34,11 @@
llsamplestep: 0.01 llsamplestep: 0.01
lasamplerange: 0.005 lasamplerange: 0.005
lasamplestep: 0.005 lasamplestep: 0.005
# 地图范围（米） # 地图范围（米）—— 4×4m 场地 + 0.5m 余量
xmin: -10.0 xmin: -0.5
xmax: 10.0 xmax: 4.5
ymin: -10.0 ymin: -0.5
ymax: 10.0 ymax: 4.5
occ_thresh: 0.25 occ_thresh: 0.25
transform_publish_period: 0.05 transform_publish_period: 0.05
use_sim_time: false use_sim_time: false