Amcl particlecloud topic not publishing
Hi,
I would like to know why rviz is not showing the particle cloud for any of my robots. Below I have provided my navigation stack launch file and my amcl parameters yaml file. Everything works (e.g. navigating from a to b), except the amcl localization.
Thank you very much.
move_base_decentralised.launch:
<launch>
<master auto="start"/>
Run the map server
<node name="map_server" pkg="map_server" type="map_server" args="$(find lasmultigazebo4)/maps/my_map.yaml"/>
<node pkg="lasmulticontrol4" type="fixed_tf_broadcaster.py" name="broadcaster_fixed" />
<group ns="n_1">
<node pkg="amcl" type="amcl" name="amcl">
<rosparam file="$(find lasmultigazebo4)/config/amcl_params.yaml" command="load" />
<remap from="scan" to="/n_1scan"/>
<param name="odom_frame_id" value="n_1/odom" />
<param name="global_frame_id" value="map" />
<param name="base_frame_id" value="n_1base_footprint" />
<param name="use_map_topic" value="true"/>
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find lasmultigazebo4)/config/robot1config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find lasmultigazebo4)/config/robot1config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find lasmultigazebo4)/config/robot1config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find lasmultigazebo4)/config/robot1config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find lasmultigazebo4)/config/robot1config/dwa_local_planner_params.yaml" command="load" />
<!--<remap from="odom" to="n_1/odom"/>-->
<remap from="cmd_vel" to="Ug_cmd_vel"/>
</node>
</group>
<group ns="n_2">
<node pkg="amcl" type="amcl" name="amcl">
<rosparam file="$(find lasmultigazebo4)/config/amcl_params.yaml" command="load" />
<remap from="scan" to="/n_2scan"/>
<param name="odom_frame_id" value="n_2/odom" />
<param name="global_frame_id" value="map" />
<param name="base_frame_id" value="n_2base_footprint" />
<param name="use_map_topic" value="true"/>
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find lasmultigazebo4)/config/robot2config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find lasmultigazebo4)/config/robot2config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find lasmultigazebo4)/config/robot2config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find lasmultigazebo4)/config/robot2config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find lasmultigazebo4)/config/robot2config/dwa_local_planner_params.yaml" command="load" />
<!--<remap from="odom" to="n_1/odom"/>-->
<remap from="cmd_vel" to="Ug_cmd_vel"/>
</node>
</group>
<group ns="n_3">
<node pkg="amcl" type="amcl" name="amcl">
<rosparam file="$(find lasmultigazebo4)/config/amcl_params.yaml" command="load" />
<remap from="scan" to="/n_3scan"/>
<param name="odom_frame_id" value="n_3/odom" />
<param name="global_frame_id" value="map" />
<param name="base_frame_id" value="n_3base_footprint" />
<param name="use_map_topic" value="true"/>
</node>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find lasmultigazebo4)/config/robot3config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find lasmultigazebo4)/config/robot3config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find lasmultigazebo4)/config/robot3config/local_costmap_params.yaml" command="load" /> ...