Gerardo Puga

Investigate behavior of the beam sensor model in off-map conditions

8

### Bug description While performing benchmarking on a number of datasets, it was noticed that the office1-7 bagfile, when replayed through both nav2 and beluga in a "beam sensor" configuration,...

Question about contents of the TorWIC-Mapping bagfiles

6

In the TorWIC Mapping data set there's a `/velocity_control/odom` that looks intended to carry the odometry information, but the messages are tagged with map (parent) and odom_link (child) frames instead...

When using large maps, the lifecycle node kills amcl_node because of missing heartbeat

3

### Bug description Related to #468 , which discusses the _beluga_amcl_ node becoming unresponsive for long periods of time when receiving large maps. This issue is about a complementary issue...

The performance documentation in the repository is outdated

3

### Issue description This section of the documentation is seriously outdated compared with the information we have now. https://github.com/Ekumen-OS/beluga/tree/main/beluga_amcl#performance

The weekly CI check has been failing to pass due to warning in Rolling

2

### Bug description A header in rolling seems to issue a deprecation warning, and that trips CI into failing to build. It's ok to ignore the rolling build because it's...

Missing compatibility notes Beluga/Nav2

2

### Issue description While Beluga AMCL is 99% compatible with the feature set in Nav2, there are slight differences such as beam skipping. I thought we had a summary of...