How cmd_vel is given while using amcl?

How cmd_vel is given while using AMCL. Is there any kinematic model?. How can we add a kinematic robot model for navigation?

Asked by Anandu R on 2019-12-04 05:38:41 UTC

Comments

The AMCL is used for the localization of the robot it has nothing to do with cmd_vel. For the navigation of your robot have a look at the navigation wiki.

Asked by Delb on 2019-12-04 06:14:33 UTC

How cmd_vel is generated while navigation ?

Asked by Anandu R on 2019-12-04 06:50:53 UTC

With the package move_base, there are plenty of tutorials in the link I gave you.

Asked by Delb on 2019-12-04 07:19:17 UTC

Thank you. I cannot find which file is publishing cmd_vel topic.

Asked by Anandu R on 2019-12-04 07:38:23 UTC

It's move_base.cpp.

Asked by Delb on 2019-12-04 08:48:19 UTC

computeVelocityCommands (geometry_msgs::Twist & cmd_vel ) , what is this function actually do to calculate cmd_vel?

Asked by Anandu R on 2019-12-04 23:51:12 UTC

Answers

AMCL doesn't use command velocities, its looking for the poses from odometry in TF. Yes, AMCL has kinematic models which are described in the documentation.

Asked by stevemacenski on 2019-12-04 12:16:35 UTC