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74396f48a0
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fix(craic_localization): tune AMCL params and propagate lidar args across launch files
- Tune AMCL: widen sigma_hit (0.05→0.2), z_hit (0.5→0.9), z_rand, likelihood_max_dist,
laser_max_range (5.0→8.0) for better convergence on 4x4m field
- Propagate lidar_x/y/z/yaw/intensity/sample_rate/baudrate through bringup,
localization, and mapping launch files so overrides reach the driver
- Fix default lidar_z (0.0→0.02) in lidar.launch.py
- Change rviz Fixed Frame odom→map to stop map jumping on AMCL corrections
- Fix broken teach_points command in docs/localization.md; add troubleshooting
entries for AMCL convergence and rf2o drift
- Add ros2/AGENTS.md with ROS workspace build/style guidelines
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2026-06-20 14:13:54 +08:00 |
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a546aff1a6
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feat(craic_localization): add package foundation, configs, and launch files
New ROS2 package for wheel odometry + LiDAR localization. Includes: AMCL config (omni model, likelihood_field), gmapping config (5cm grid, 30 particles), YDLiDAR TminiPro config, launch files for lidar bringup, SLAM mapping, AMCL localization, and sensor calibration, plus RViz config with Map/LaserScan/Odometry displays.
Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)
Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
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2026-06-19 06:30:30 +08:00 |
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