The Mobile Robot Programming Toolkit

Hello!

I'm testing icp-slam on scan and odometry data with larger increments (30 cm per reading). I add many readings while sensor is holding still (no movement, to improve particle probability). Is there any way to set the icp-slam app not to change odometry, even if it's a good mach (in ex. 86 %), if the change in odometry required is larger than ... meters? Basically, is it possible to set the maximum threshold for ICP -> mapping?

In your opinion, what are is the maximum of increments in odometry that icp still runs satisfactorily? I am having problems in the hallway,
with long, straight walls with almost no characteristics. So icp should rely on the odometry at least for an start position of the scan matching...

Any advice?

Reegards,
Luka