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Updated AMCL configuration file,and galactic migration guide #231

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Nov 11, 2021
Merged

Updated AMCL configuration file,and galactic migration guide #231

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4ad691f
Update Galactic.rst
poornimajd Nov 10, 2021
591cb6c
Update configuring-amcl.rst
poornimajd Nov 10, 2021
23dd822
Update Galactic.rst
poornimajd Nov 11, 2021
513cf1d
Update configuring-amcl.rst
poornimajd Nov 11, 2021
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7 changes: 4 additions & 3 deletions configuration/packages/configuring-amcl.rst
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Expand Up @@ -315,11 +315,11 @@ Parameters
============== =============================
Type Default
-------------- -----------------------------
string "differential"
string "nav2_amcl::DifferentialMotionModel"
============== =============================

Description
Name of robot model type. Options are differential and omnidirectional.
The fully-qualified type of the plugin class. Options are nav2_amcl::DifferentialMotionModel and nav2_amcl::OmniMotionModel.

:save_pose_rate:

Expand Down Expand Up @@ -496,7 +496,7 @@ Example
recovery_alpha_fast: 0.0
recovery_alpha_slow: 0.0
resample_interval: 1
robot_model_type: "differential"
robot_model_type: "nav2_amcl::DifferentialMotionModel"
save_pose_rate: 0.5
sigma_hit: 0.2
tf_broadcast: true
Expand All @@ -510,3 +510,4 @@ Example
always_reset_initial_pose: false
scan_topic: scan
map_topic: map

5 changes: 5 additions & 0 deletions migration/Galactic.rst
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Expand Up @@ -179,3 +179,8 @@ Removed Kinematic Limiting in RPP
*********************************

The parameters ``max_linear_accel`` and ``max_linear_decel`` were removed along with the kinematic limiting in the controller causing instabilities. Instead, use a velocity smoother available in the ROS ecosystem if you would like similar behavior.

Refactored AMCL motion models as plugins
****************************************

`This PR <https://github.com/ros-planning/navigation2/pull/2642>`_ creates plugins for the different motion models currently used in AMCL. This functionality enables users to use any custom motion model by creating it as a plugin and changing the robot_model_type parameter to the name of the plugin in nav2_params.yaml file. This helps to use custom motion models without the need to modify the AMCL source code.