| 706 | } |
| 707 | |
| 708 | bool AmclNode::initialize_from_map() { |
| 709 | RCLCPP_INFO(get_logger(), "Initializing particles from map"); |
| 710 | |
| 711 | if (!particle_filter_) { |
| 712 | RCLCPP_ERROR(get_logger(), "Could not initialize particles: The particle filter has not been initialized"); |
| 713 | return false; |
| 714 | } |
| 715 | |
| 716 | particle_filter_->initialize_from_map(); |
| 717 | enable_tf_broadcast_ = true; |
| 718 | |
| 719 | RCLCPP_INFO( |
| 720 | get_logger(), "Particle filter initialized with %ld particles distributed across the map", |
| 721 | particle_filter_->particles().size()); |
| 722 | |
| 723 | return true; |
| 724 | } |
| 725 | |
| 726 | } // namespace beluga_amcl |
| 727 | |