Hi all, Based on amcl wiki, odometry data is used in amcl algorithm as follow:
initialpose (geometry_msgs/PoseWithCovarianceStamped) Mean and covariance with which to (re-)initialize the particle filter.
It is used for "initialize the particle filter". When does amcl initialize the particle filter? Upon program startup only?Could anyone guide me the location of the source code ? It is used for "re-initialize the particle filter" When does amcl re-initialize the particle filter? Could anyone guide me the location of the source code ?
Based on above descriptions, can I assume that odometry data is not required for amcl algorithm processing? If I set the initial pose to some known position in the map, do I still need odometry data for amcl algorithm processing?
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