Question

Hi ,

I am studying ROS navigation these days. Including AMCL and SLAM.

The algorithm what I am using is Hector SLAM.

And I wonder whether SLAM can change inital pose (also mean start location) just like AMCL?

Asked by YingHua on 2016-10-17 21:56:03 UTC

Answer 1

I think you missed the concept of slam and amcl. slam is for map generating, where it starts from is map start point. amcl is for you localization, which you need the start point or initial pose to localize in the map.

Asked by asimay_y on 2016-10-18 00:09:27 UTC

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Thanks for your response :) What I am thinking is maybe I have already know the location where to start and I want the map's pose start from just the place lidar is but not start from ( 0 , 0 ).

Asked by YingHua on 2016-10-18 01:12:41 UTC

you can go to your amcl.launch file to set:

<param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
<param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
<param name="initial_pose_a"            value="$(arg initial_pose_a)"/>

Asked by asimay_y on 2016-10-18 03:49:08 UTC

I know how to modify AMCL :) My question is about SLAM.

Asked by YingHua on 2016-10-18 03:55:20 UTC

I think you still missed the concept of them. it is strange that you feed pose parameters into slam's initial pose, because where slam start is map start. You cannot designate its place while it is making map.

Asked by asimay_y on 2016-10-18 04:01:27 UTC

Hi asimay_y :) I have already solve my question. I can publish data to "initalpose" topice to change it.

I know how to use SLAM and AMCL in different situation. really thanks for your response.

Asked by YingHua on 2016-10-18 06:19:40 UTC

How to modify slam start location?

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