navigation启动时,amcl为机器人新建并维护一个粒子滤波器,通过匹配分值判断当前机器人位置与地图的匹配程度。为amcl添加一个输出匹配分值的功能。为了滤除噪声,取1s内5个分值(0.2s间隔)作为该时间段的分值。新建线程,每秒统计一次分值量化判断机器人位置的丢失程度。
取出当前时刻分值(pf.c)。
#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <time.h>
#include "amcl/pf/pf.h"
#include "amcl/pf/pf_pdf.h"
#include "amcl/pf/pf_kdtree.h"
// match_score declare by cabin avoiding error of multiple definition
double match_score_;
...
void pf_update_sensor(pf_t *pf, pf_sensor_model_fn_t sensor_fn, void *sensor_data){
...
// Compute the sample weights
total = (*sensor_fn) (sensor_data, set);
//get score by cabin
match_score_ = total;
...
}
...
// Delive the score by cabin
double get_match_score(){
return match_score_;
}
统计1s时间段内分值(amcl_node.cpp)。
...
class AmclNode
{
...
std::thread *computeCurrentScoreThread;
void computeScoreThread();
}
...
AmclNode::AmclNode() :
sent_first_transform_(false),
latest_tf_valid_(false),
map_(NULL),
pf_(NULL),
resample_count_(0),
odom_(NULL),
laser_(NULL),
private_nh_("~"),
initial_pose_hyp_(NULL),
first_map_received_(false),
first_reconfigure_call_(true)
{
...
computeCurrentScoreThread = new std::thread(&AmclNode::computeScoreThread,this);
}
...
//=================compute the matching score by cabin============================
void AmclNode::computeScoreThread(){
double sum_score;
double sub_score;
int count;
while(1){
sub_score = get_match_score();
sum_score += sub_score;
count++;
sleep(0.2);
if(count>5){
std::cout<<"========"<<"pf filter score:"<<sum_score<<"======"<<&std::endl;
count =0;
sum_score = 0.0;
}
}
}
则在navigation运行时,每秒都会输出机器人当前位置与地图的匹配度作为参考。