Update documentation

Triggered by commit 4db60cf. Co-authored-by: hidmic <hidmic@users.noreply.github.com>
Ekumen-OS · Oct 15, 2024 · feb5806 · feb5806
1 parent 1bac658
commit feb5806
Show file tree

Hide file tree

Showing 585 changed files with 1,179 additions and 1,199 deletions.
diff --git a/.buildinfo b/.buildinfo
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: 6ef587cf16c3f8d034809348ebe15e99
+config: 28fde4039bc43ae55a87116d186abcf5
 tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/_sources/guides/using-beluga-amcl.md b/_sources/guides/using-beluga-amcl.md
@@ -68,13 +68,13 @@ Before the robot can localize using Beluga AMCL, we need a map of the environmen
 
 ## Configuring Beluga AMCL
 
-Let’s put everything together in one cohesive configuration.
+Let's put everything together in one cohesive configuration.
 
 ```bash
 editor beluga.launch.xml
 ```
 
-Here’s a sample `launch` file in XML format you can use:
+Here's a sample `launch` file in XML format you can use:
 
 ```xml
 <launch>
@@ -86,26 +86,13 @@ Here’s a sample `launch` file in XML format you can use:
     </node>
 
     <!-- Start AMCL -->
-    <node pkg="beluga" exec="amcl" name="amcl" output="screen">
-        <param name="use_sim_time" value="false" />
-        <param name="min_particles" value="500" />
-        <param name="max_particles" value="2000" />
-        <param name="kld_err" value="0.05" />
-        <param name="odom_alpha1" value="0.2" />
-        <param name="odom_alpha2" value="0.2" />
-        <param name="odom_alpha3" value="0.2" />
-        <param name="odom_alpha4" value="0.2" />
-        <param name="z_hit" value="0.95" />
-        <param name="z_rand" value="0.05" />
-        <param name="laser_likelihood_max_dist" value="2.0" />
-        <param name="laser_model_type" value="likelihood_field" />
-    </node>
+    <node pkg="beluga" exec="amcl" name="amcl" output="screen"/>
 </launch>
 ```
 
 ## Running Beluga AMCL
 
-Now, it’s time to run Beluga on your robot!
+Now, it's time to run Beluga on your robot!
 
 1. **Launch your system** and your custom launch file alongside with it:
 
@@ -121,9 +108,9 @@ Now, it’s time to run Beluga on your robot!
 
     Use `map` as your global fixed frame. Use the `Map` and `LaserScan` displays to assess your robot localization. If scans and map do not line up, use the `2D Pose Estimate` tool to reset your robot pose. You can also use `PoseArray` and `MarkerArray` displays to visualize the particle cloud. When moving, it should quickly converge near the robot's true pose.
 
-3. **Tweak Beluga AMCL as necessary** if localization isn’t as accurate as expected. For example, you can:
+3. **Tweak Beluga AMCL as necessary** if localization isn't as accurate as expected. For example, you can:
 
-   - **Adjust the number of particles**. If localization is unstable (e.g., the robot’s position jumps), consider increasing the minimum number of particles (`min_particles`) to improve the pose estimate. If localization is slow (especially in large environments), consider lowering the maximum number of particles (`max_particles`) to reduce the computational load.
+   - **Adjust the number of particles**. If localization is unstable (e.g., the robot's position jumps), consider increasing the minimum number of particles (`min_particles`) to improve the pose estimate. If localization is slow (especially in large environments), consider lowering the maximum number of particles (`max_particles`) to reduce the computational load.
    - **Tune the odometry noise model**. If your odometry source is noisy and localization drifts, consider updating `odom_alpha1` thru `odom_alpha5` to better reflect that noise.
    - **Tune the sensor model**. If you LiDAR is noisy, consider increasing `z_rand` to account for bad range measurements.
 
@@ -140,6 +127,7 @@ Some common issues you may find along the way include:
    - **Crosschecks:**
      - Verify the `/scan` topic data is correct using `ros2 topic echo /scan`.
      - Verify the `odom` to `base_link` transforms are correct using `ros2 run tf2_ros tf2_echo odom base_link`.
+     - Verify the `base_link` to `lidar` transforms are correct using `ros2 run tf2_ros tf2_echo base_link lidar`.
      - Check the map matches the actual environment.
 
 2. **Robot's estimated pose is inaccurate**
@@ -148,6 +136,8 @@ Some common issues you may find along the way include:
    - **Possible causes:**
      - Odometry drift.
      - Incorrect transformations between frames.
+     - Blurry or distorted map.
    - **Crosschecks:**
      - Calibrate your robot's odometry.
      - Ensure all `tf` frames are correctly defined.
+     - [Map the environment](#mapping-the-environment) again.
diff --git a/about/contact.html b/about/contact.html
@@ -55,7 +55,7 @@
     <link rel="prev" title="Rationale" href="rationale.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -440,7 +440,7 @@ <h1>Contact<a class="headerlink" href="#contact" title="Link to this heading">#<
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/about/rationale.html b/about/rationale.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Bibliography" href="../resources/bibliography.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -450,7 +450,7 @@ <h1>Rationale<a class="headerlink" href="#rationale" title="Link to this heading
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/concepts/architecture.html b/concepts/architecture.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Design principles" href="design-principles.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -495,7 +495,7 @@ <h2>CRTP-based data adapters<a class="headerlink" href="#crtp-based-data-adapter
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/concepts/design-principles.html b/concepts/design-principles.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Key concepts" href="key-concepts.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -518,7 +518,7 @@ <h3>Memory aware<a class="headerlink" href="#memory-aware" title="Link to this h
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/concepts/key-concepts.html b/concepts/key-concepts.html
@@ -58,7 +58,7 @@
     <link rel="prev" title="Quickstart" href="../getting-started/quickstart.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -525,7 +525,7 @@ <h2>Monte Carlo Localization<a class="headerlink" href="#monte-carlo-localizatio
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/genindex.html b/genindex.html
@@ -53,7 +53,7 @@
     <link rel="search" title="Search" href="search.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -383,7 +383,7 @@ <h1 id="index">Index</h1>
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/getting-started/installation.html b/getting-started/installation.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Overview" href="../index.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -605,7 +605,7 @@ <h3>Build and source workspace<a class="headerlink" href="#build-and-source-work
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/getting-started/quickstart.html b/getting-started/quickstart.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Installation" href="installation.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -623,7 +623,7 @@ <h2>Visualize Beluga output<a class="headerlink" href="#visualize-beluga-output"
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/guides/benchmarking-beluga.html b/guides/benchmarking-beluga.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Profiling Beluga" href="profiling-beluga.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -448,7 +448,7 @@ <h1>Benchmarking Beluga<a class="headerlink" href="#benchmarking-beluga" title="
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/guides/extending-beluga.html b/guides/extending-beluga.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Using Beluga AMCL" href="using-beluga-amcl.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -448,7 +448,7 @@ <h1>Extending Beluga<a class="headerlink" href="#extending-beluga" title="Link t
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>

diff --git a/guides/profiling-beluga.html b/guides/profiling-beluga.html
@@ -56,7 +56,7 @@
     <link rel="prev" title="Extending Beluga" href="extending-beluga.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
-    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;"/>
+    <meta name="docbuild:last-update" content="&#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;"/>
   </head>
 
 
@@ -448,7 +448,7 @@ <h1>Profiling Beluga<a class="headerlink" href="#profiling-beluga" title="Link t
 
   <div class="footer-item">
     <p class="last-updated">
-  Last updated on &#39;Tue Oct 15 11:37:52 2024 -0600, 0df4da0&#39;.
+  Last updated on &#39;Tue Oct 15 18:57:22 2024 -0300, 4db60cf&#39;.
   <br/>
 </p>
   </div>