From d2a95d2539f941fca536e6385b899c2e2de2c5fb Mon Sep 17 00:00:00 2001 From: Stanislav Byriukov Date: Tue, 13 Jan 2026 22:42:25 +0100 Subject: [PATCH] docs(amcl): document random_seed parameter Signed-off-by: Stanislav Byriukov --- configuration/packages/configuring-amcl.rst | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/configuration/packages/configuring-amcl.rst b/configuration/packages/configuring-amcl.rst index 2c399fe777..1c17a6432e 100644 --- a/configuration/packages/configuring-amcl.rst +++ b/configuration/packages/configuring-amcl.rst @@ -276,6 +276,20 @@ Parameters Description Particle filter population density. 2.33 is the 99% percentile. +:random_seed: + + ============== ============================= + Type Default + -------------- ----------------------------- + int -1 + ============== ============================= + + Description + Seed for the particle filter RNG. + + - ``random_seed >= 0``: seed the RNG with the provided value (repeatable runs). + - ``random_seed < 0`` (default): seed the RNG from time (preserves historical behavior). + :recovery_alpha_fast: ============== ============================= @@ -540,6 +554,7 @@ Example odom_frame_id: "odom" pf_err: 0.05 pf_z: 0.99 + random_seed: -1 recovery_alpha_fast: 0.0 recovery_alpha_slow: 0.0 resample_interval: 1