What is the pose of the robot when move_base and amcl starts?
I can't find information on the pose of the robot when the amcl and move_base packages are started. Is the robot at 0,0,0 with orientation 0? Or is it something else?
Basically here's what I want to accomplish: I place the robot in real world in a known environment, start move_base and depending packages, and then find its pose and detect a corner and its coordinates and drive it there. And for that I want to know the robot's position in the beginning and at any given time. What should be the procedure?
Asked by parzival on 2019-11-07 01:28:07 UTC
Comments
You can look at the topic published by amcl, amcl_pose, that should tell you your robot's pose at any instant.
Asked by Choco93 on 2019-11-07 02:46:01 UTC
I'm just using RPLidar A1 for sensing, and using it with laser_scan_matcher to get odom
Asked by parzival on 2019-11-07 04:35:01 UTC
@Choco93, I observe that amcl_pose doesn't update till I give a nav goal, and the seq stays at 0 till then. Is that an intended behaviour?
Asked by parzival on 2019-11-07 04:44:03 UTC
When you launch amcl, your pose (in odom) should be all zeros unless you provide some pose values. But to check your pose at any instant you need to subscribe to
amcl_pose. If you want to get to some point you just give that as a goal and move_base should get you there if it is physically possible to go there.Asked by Choco93 on 2019-11-07 05:04:30 UTC
@Choco93 can /odom be used instead of /amcl_pose? I'm having issues with frequency
Asked by parzival on 2019-11-07 05:06:32 UTC
If you have an odom topic then yes, it should be used
Asked by Choco93 on 2019-11-07 05:57:20 UTC