anqixu / comp417_fall2014_assignment_1_mcl Goto Github PK

Hi,

When I launch rviz, the robot is not where it should be on the map. Is this because the initial position is automatically set to the bottom left corner and will update as the particle filter provides an etimate of location, or is there some other bug?

Stephanie

Hi,

When I run Rviz the occupancy grid, the robot's tf and the laser scan are not aligned with the map and the odometer (see: http://tinypic.com/r/2yxhor5/8). How can I fix this? I've seen at least two other people with the same problem. Thanks!

I'm wondering how to compute the probability of z given x_i. Can we use the l2 norm of the distance between the real scan and the simulated scan for each particle in our calculations?