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There is a little problem with map "warehouse" #76
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Thanks for your contribution. We'll fix it later. You can also provide us with your corrected map. |
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When running the AMCL algorithm and the car gets close to the edge of the map, the localization drifts.
![image](https://private-user-images.githubusercontent.com/83548820/329515681-44ef17cb-4079-44e6-880c-ec08d60f4768.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQwNTgzNTUsIm5iZiI6MTcyNDA1ODA1NSwicGF0aCI6Ii84MzU0ODgyMC8zMjk1MTU2ODEtNDRlZjE3Y2ItNDA3OS00NGU2LTg4MGMtZWMwOGQ2MGY0NzY4LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTklMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODE5VDA5MDA1NVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTAyZmNlNjg2MzFlMzI0YzNhNjIxOGI1ZmQzNjczMTA1YzJhMmJjZjg5ZjQxMmI4MWM2NGViZTM4MzkyNGQ2OGEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.P5MN7SUgILRtgOHj1Ouu_Sj-5lwGEC_OEJEbw8BNuVs)
![image](https://private-user-images.githubusercontent.com/83548820/329515893-5bfd4356-fa82-4eb0-a6c0-21776f08732a.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjQwNTgzNTUsIm5iZiI6MTcyNDA1ODA1NSwicGF0aCI6Ii84MzU0ODgyMC8zMjk1MTU4OTMtNWJmZDQzNTYtZmE4Mi00ZWIwLWE2YzAtMjE3NzZmMDg3MzJhLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA4MTklMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwODE5VDA5MDA1NVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTczYzQ3OWI2OGU5N2JmMzhmMWMyZDg0ZDAxMDNjZjE0OWU2MmM4MWI2YmM3NDg4NDFlZWEyZTFhZDFkNDZiOGQmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.oslVJ0qM4iIMocDkZp64BHikVqXvINoLm1ZoJ61W--4)
I think it's related to the commit f728f1a, and after that the pgm file didn't update in time.
Corrected map file (by slam_karto):
Original map file:
As you can see, the corrected map file should be a little bit more slender (like 20 cm) than the original, which is obvious when you look at the bottom of the map.
The text was updated successfully, but these errors were encountered: