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Add service to reinitialize global localization #157
Add service to reinitialize global localization #157
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@olmerg First pass. It looks like you haven't signed your commits, and you haven't run the linter or the tests. Please do it.
Please, update the PR title following the contributing guidelines:
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I make a new commit with some change in amcl_node but beluga system test is not working.
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Check #146 (comment) and #154 |
@hidmic @nahueespinosa @glpuga I am going to describe my blocking test:
When I deactivate the particle filter stop to work but the new state is uncofigured and not inactive. The on_cleanup is never called (which I am looking to test) Another unsucessful test is after after review of the log amcl finish with -6 error (line 2903)
I attach the log, after remove some noise like flatland or subscription (it is incredible the logs generated in debug mode) |
@olmerg The error might be related to ros2/rclcpp#1880. I'd say we don't need to implement the feature to save the last pose since Implementing the service to reinitialize global localization would be enough for this PR. Please remove other changes. |
@olmerg how far are we here? Need help? |
the functionality is working and I remove the part to save the state. to test the functionality
after some seconds in a new terminal
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@olmerg Could you rebase to current main and sign off your commits? GitHub seems to be confused about what belongs to your branch and what comes from main. |
Ping @olmerg |
Signed-off-by: Olmer Garcia-Bedoya <[email protected]>
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Signed-off-by: Olmer Garcia-Bedoya <[email protected]>
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@olmerg Looking good! Please fix the whitespaces.
Signed-off-by: Olmer Garcia-Bedoya <[email protected]>
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LGTM!
Closes #141.
Summary
create a parameteralways_reset_initial_pose
. control if the position is reset when the node enter on_configure.To complete this functionality a variable
initial_pose_is_known_
in amcl_node control when should be published the pose and the particles of the filter.Checklist