Gerardo Puga

Some ActionClients being left waiting forever when server sends results to two or more clients in a very short span of time

5

I found an issue when the cpp Action Server sends results to two or more clients during a very short span of time, which causes all but one of the...

Add new cluster based estimator

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### Proposed changes Addresses #172 #258 This refactors the `estimators.hpp` file into separate files for common algorithms and independent mixins, and add a new estimator mixin based on clusterization. Add...

The nav2_amcl version present in the humble container crashes replaying the perfect odometry bagfile

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### Bug description Running the perfect odometry bagfile against nav2 amcl in the Humble development container causes amcl to crash early in the bagfile. This is an issue for us...

Investigate why the scan likelihood formula does not follow the model in Prob. Rob.

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## Description Both QuickMCL and AMCL seem to have for a long time used a formula for aggregation of the likelihood `p` that does not match the model proposed in...

### Feature description As part of #199 it was found that `std::floor` [is expensive](https://stackoverflow.com/questions/824118/why-is-floor-so-slow/825916#825916). When used in a tight loop, this extra cost can be non-negligible. This ticket is about...

Document relevant mixin usage patterns

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## Description The last few weeks have been rich in design proposals for problems we're likely to encounter again. Since we are A few of these are probably worth keeping...

The localization solution in the video in the landing page wobbles on rotations

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### Bug description The localization solution seems to wobble around when the robot turns on the video in the landing page in a very noticeable way: https://github.com/Ekumen-OS/beluga#overview I know we...

Thick map walls cause a lot of uncertainty to the likelihood sensor model, damaging localization solution

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### Bug description Working with a synthetic map created from a floor plan, I noticed that when the mapped walls around the robot are thick, the likelihood model tends to...

Matplotlib is broken in Humble image, probably others

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### Bug description When trying ot run the benchmarking scripts to plot data, this error happens:  This is a reported issue in Matplotlib: https://github.com/matplotlib/matplotlib/issues/26827 It's important...

Research alternative to Bresenham's raytracing algorithm

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## Description - [ ] Evaluate the performance of Bresenham's algorithm for the Bean Sensor Model to determine if it's worth optimizing - [ ] Research [this paper](https://arxiv.org/pdf/1705.01167.pdf) as a...