odomerty motion models without non-holonomic constraints for monteCarloLocalization object

is there a way to incorporate odomerty motion models without non-holonomic constraints into the monteCarloLocalization object? i have a robot with Mecanum wheels and want to use Monte Carlo locatization but the differential drive motion model. i can't find a option to change the odometry motion model to any other type or include a custom one.

Answer 1

[Amrtanshu Raj]

Hi,

Currently the option to change or add a custom motion model is unavailable for monteCarloLocalisation. I have brought this issue to the concerned people and it might be considered in any future release.

For now if it helps you can use insfilterNonholonomic

Hope it helps !!

[Marcus Gronemeyer]

Thank you very much for the answer. Unfortunately the insfilterNonholonomic function won't help since I want to use LIDAR data. I will probably try to find a different solution using a costum particle filter and a nonholonomic motion model.