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Amcl improvements#32

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12tbuchman wants to merge 20 commits intodevelopBadgerTechnologies/badger_amcl:developfrom amcl-improvementsBadgerTechnologies/badger_amcl:amcl-improvementsCopy head branch name to clipboard

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Commits on Feb 11, 2025

• Fix bug related to multiple maps

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• Split transform frame id from global frame id

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• Remove unused normalize function in Odom

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• Remove Odom models

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• Remove model types from laser scanners

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• Remove model types from the particle filter

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• Minor naming refactoring

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• Add publish_distances_lut to dynamic reconfig

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• Rename convertWorldToMap and convertMapToWorld

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• Remove makePointCloudFromScan function

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Commits on Feb 12, 2025

• Refactor getMaxWeightPose function

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• Refactor Node classes

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• Remove force_update flag

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• Minor whitespace change

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• Minor refactoring of particle filter

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• Minor refactoring of Node::initOdom

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• Publish best fit cloud and pose array

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• Publish pose before resampling particle cloud

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Commits on Feb 13, 2025

• Refactor particle filter

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• Publish highest weighted cluster as pose array

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