Note that this has been this way since at least 2009 based on blame

# [amcl_laser] Revert the measurement computation to what is in Probabilistic Robotics textbook.

Originally raised in this QandA.

I'm also wondering how this ad-hoc weight was developed. I understand that this ad-hoc value has been functioning for the purpose, but ideally should better be to be documented with a mathematical rationale considering it's based on a textbook.

I don't expect this to be merged as it is, or even understand if rejected; if the rationale for the current ad-hoc modification is provided, I think that would be fine. And we might want to keep using a long-standing logic rather than modifying it, unless new logic is tested thoroughly or gone through a heavy review process.

该提问来源于开源项目：ros-planning/navigation

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