odomerty motion models without non-holonomic constraints for monteCarloLocalization object

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Marcus Gronemeyer
Marcus Gronemeyer 2020-10-5
评论： Marcus Gronemeyer 2020-11-2
is there a way to incorporate odomerty motion models without non-holonomic constraints into the monteCarloLocalization object? i have a robot with Mecanum wheels and want to use Monte Carlo locatization but the differential drive motion model. i can't find a option to change the odometry motion model to any other type or include a custom one.

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Amrtanshu Raj
Amrtanshu Raj 2020-10-30
Hi,
Currently the option to change or add a custom motion model is unavailable for monteCarloLocalisation. I have brought this issue to the concerned people and it might be considered in any future release.
For now if it helps you can use insfilterNonholonomic
Hope it helps !!
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Marcus Gronemeyer
Marcus Gronemeyer 2020-11-2
Thank you very much for the answer. Unfortunately the insfilterNonholonomic function won't help since I want to use LIDAR data. I will probably try to find a different solution using a costum particle filter and a nonholonomic motion model.

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