FallenSigh
a546aff1a6
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>
57 lines
1.5 KiB
YAML
57 lines
1.5 KiB
YAML
# P5 AMCL 定位参数 —— 改自 lzu_robot/maps/amcl_config.yaml
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# 麦轮底盘用 omni 运动模型；帧与 chassis_odometry / 激光一致。
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# 地图文件由 localization.launch.py 的 map:= 参数注入 map_server 的 yaml_filename。
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map_server:
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ros__parameters:
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use_sim_time: false
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yaml_filename: "" # 由 launch 的 map:= 覆盖
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topic_name: "map"
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frame_id: "map"
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amcl:
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ros__parameters:
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use_sim_time: false
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# ===== 帧 / 话题 =====
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odom_model_type: "omni" # 麦轮全向；差速底盘改 "diff"
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global_frame_id: "map"
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base_frame_id: "base_footprint"
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odom_frame_id: "odom"
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scan_topic: "scan"
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# ===== 运动模型噪声（按里程计实际精度调）=====
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alpha1: 0.005
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alpha2: 0.005
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alpha3: 0.005
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alpha4: 0.005
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alpha5: 0.005
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# ===== 粒子滤波 =====
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min_particles: 500
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max_particles: 1000
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pf_err: 0.05
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resample_interval: 5
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# ===== 激光模型（匹配 TminiPro：12m）=====
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laser_model_type: "likelihood_field"
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laser_max_range: 12.0
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laser_min_range: -1.0
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max_beams: 500
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sigma_hit: 0.05
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z_hit: 0.5
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z_rand: 0.03
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laser_likelihood_max_dist: 2.0
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# ===== 更新策略 =====
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update_min_d: 0.05
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update_min_a: 0.05
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transform_tolerance: 0.5
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# ===== 初始位姿（按机器人在场地中的起始点设置；可被 launch 覆盖）=====
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set_initial_pose: true
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initial_pose:
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x: 0.0
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y: 0.0
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z: 0.0
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yaw: 0.0
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