From 4645e7688fd1f9a042b44b800f1f35bfd9b3d765 Mon Sep 17 00:00:00 2001 From: Matthijs van der Burgh Date: Sat, 6 Jul 2024 15:06:38 +0200 Subject: [PATCH] Initial guess wider yaw (#34) --- src/localization_plugin.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/localization_plugin.cpp b/src/localization_plugin.cpp index 095a619..f5844a5 100644 --- a/src/localization_plugin.cpp +++ b/src/localization_plugin.cpp @@ -424,7 +424,7 @@ void LocalizationPlugin::initParticleFilterUniform(const geo::Transform2& pose) { const geo::Vec2& p = pose.getOrigin(); const double yaw = pose.rotation(); - particle_filter_.initUniform(p - geo::Vec2(0.3, 0.3), p + geo::Vec2(0.3, 0.3), yaw - 0.15, yaw + 0.15); + particle_filter_.initUniform(p - geo::Vec2(0.3, 0.3), p + geo::Vec2(0.3, 0.3), yaw - 0.3, yaw + 0.3); have_previous_odom_pose_ = false; resample_count_ = 0; }