ROS Navigation Stack

start from 6.12
https://zhuanlan.zhihu.com/ros-nav
Want to nav using skecthed or emergency map(not accuracy map) originally, but at last it's deprecated for some reasons...
Now it's just a repo for record.

sketched map两篇论文的思路：

• 修改下粒子滤波的过程，将pose(x,y,theta)多加两个
  扩展为pose + (a,b)，也就是局部拉伸变形
  里程计的距离也拉伸下

论文的问题：

• quick change in the scale，因为scale不像pose一样
  pose有测量保证单步之后是个高斯分布
  scale也学人家pose，认为是原来的scale发散下
  那变化快了localization丢了

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