bosch-ros-pkg/navigation — pull request #7 by sachih (2014-07-21 18:18:43+00:00)
Title: Added invalid beam skip

When the current particle set is converged the pf sensor update will skip laser scans that don't agree with at least a given threshold of samples.

Enable with do_beamskip=true
with beam_skip_distance being the distance threshold (above which a scan is considered invalid)
and beam_skip_threshold being the ratio below which a scan is considered invalid (for < beam_skip_threshold number of particles - the scan didn't agree with the map).