also check headings in shouldProcessScan #545
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lib/karto_sdk/src/Mapper.cpp
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| @@ -2318,7 +2318,7 @@ double Mapper::getParamMinimumTravelDistance() | |||
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| double Mapper::getParamMinimumTravelHeading() | |||
| { | |||
| return math::RadiansToDegrees(static_cast<double>(m_pMinimumTravelHeading->GetValue())); | |||
| return static_cast<double>(m_pMinimumTravelHeading->GetValue()); | |||
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Don't change the units in the core library
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It's confusing that getParamMinimumTravelHeading returns heading in degrees while setParamMinimumTravelHeading takes radians instead. I think it's better to make these two functions return values in the same unit. What do you think?
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I don't disagree, but the karto stuff is very complex and I've learned the hard way not to make changes here unless strictly required for functionality. I don't think there will be any ramifications of this change downstream, but I also don't have the resources to fire-fight major issues in this project right now so I'm being overly cautious
src/slam_toolbox_common.cpp
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| double heading_diff = pose.GetHeading() - last_pose.GetHeading(); | ||
| if (heading_diff < 0) | ||
| heading_diff = -heading_diff; | ||
| if ((dist2 < 0.8 * min_dist2 && heading_diff < 0.9 * min_heading) || scan_ctr < 5) { |
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Why 0.9? That seems arbitrary
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The comment a few lines above said:
// check moved enough, within 10% for correction errorso I followed that by multiplying 0.9.
src/slam_toolbox_common.cpp
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| if (dist2 < 0.8 * min_dist2 || scan_ctr < 5) { | ||
| double heading_diff = pose.GetHeading() - last_pose.GetHeading(); | ||
| if (heading_diff < 0) | ||
| heading_diff = -heading_diff; |
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You can just use fabs() in the if condition below and remove this
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Is there a reason this has not been merged, it seems like an important change. In my project this pull request has drastically improved the accuracy of the localization. Also is this not basically a duplicate of #451. |
This should fix #499 .