Updates to AMCL

Updates include 

* Better viewing of the particle cloud - now you can set flag "draw_weight_as_height" and have the particle's z value be set to normalized height. 

*Improved control over init pose covariance - this is right now set from the rviz plugin to a fixed value (too small for the theta). Now you can override this with the flag "use_cov_from_params" and have it use param values std_xx, std_yy and std_tt as the cov values. 

*Also moved std values for motion outside the for loop (they were being recalculated for every particle before sampling)
Not sure which part you are proposing to make a param. The alphas are
already params. I didn't change the functionality of the algorithm, just
removed an unnecessary recomputation.
On Jun 30, 2014 9:37 PM, "Dejan Pangercic" <notifications@github.com> wrote:

> In amcl/src/amcl/sensors/amcl_odom.cpp:
>
> > @@ -190,21 +190,34 @@ bool AMCLOdom::UpdateAction(pf_t *pf, AMCLSensorData *data)
> >      delta_rot2_noise = std::min(fabs(angle_diff(delta_rot2,0.0)),
> >                                  fabs(angle_diff(delta_rot2,M_PI)));
> >
> > +    double std_rot_1 = this->alpha1*delta_rot1_noise*delta_rot1_noise +
> > +      this->alpha2*delta_trans*delta_trans;
> > +
> > +    double std_trans = this->alpha3*delta_trans*delta_trans +
> > +      this->alpha4*delta_rot1_noise*delta_rot1_noise +
> > +      this->alpha4*delta_rot2_noise*delta_rot2_noise;
> > +
> > +    double std_rot_2 = this->alpha1*delta_rot2_noise*delta_rot2_noise +
> > +      this->alpha2*delta_trans*delta_trans;
> > +
> > +    if(0){
>
> Lets make this a param - otherwise it will get forgotten.
>
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> <https://github.com/bosch-ros-pkg/navigation/pull/2/files#r14388305>.
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