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Hello,

I found what was wrong : there two problems.

• First, I had multiple odom topics and so I had to remap it in the good nodes, for instance with

  <remap from="odom" to="encoder"/>

• Then, the amcl couldn't publish its topics because of the broadcaster from map to odom frame that I added. The amcl need to publish this broadcaster, but it couldn't because any toic can have only one parent.

Now it works well.

Hello,

I found what was wrong : there two problems.

• First, I had multiple odom topics and so I had to remap it in the good nodes, for instance with

  <remap from="odom" to="encoder"/>

• Then, the amcl couldn't publish its topics because of the broadcaster from map to odom frame that I added. The amcl need to publish this broadcaster, but it couldn't because any toic can have only one parent.

Now it works well.

Hello,

I found what was wrong : there were two problems.

• First, I had multiple odom topics and so I had to remap it in the good nodes, for instance with

  <remap from="odom" to="encoder"/>

• Then, the amcl couldn't publish its topics because of the broadcaster from map to odom frame that I added. The amcl need to publish this broadcaster, but it couldn't because any toic can have only one parent.

Now it works well.

Hello,

I found what was wrong : there were two problems.

• First, I had multiple odom topics and so I had to remap uniformed the topics and/or remapped it in the good nodes, for instance withwith :

  <remap from="odom" to="encoder"/>

• Then, the amcl couldn't publish its topics because of the broadcaster from map to odom frame that I added. The amcl need to publish this broadcaster, but it couldn't because any toic can have only one parent.

Now it works well.