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The parameters you posted should set the initial pose of the robot in the "map" frame. When you set the pose from rviz, AMCL does support messages in any frame. However, setting the robot's pose in a frame other than "map" probably isn't what you want to do and may have unintended consequences. To guarantee you're setting the initial pose in the "map" frame, make sure that you have your "Fixed Frame" and "Target Frame" set to "map" in rviz. Another thing to check is that your laser is publishing data and that AMCL is subscribed correctly to it. Given you're using the example parameters for AMCL, I'd expect setting the initial pose to work barring some problem with your network or your laser configuration.