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When you say "tried to fake odometry for AMCL by using /cmd_vel topic", what exactly do you mean? If you are using the /cmd_vel to generate a new /odom topic, make sure you are also broadcasting the odom->base_link transform.

  1. It depends on how good is your fake odometry, but it should work.
  2. Yes (see 1.). You can also try other laser odometry packages, as the polar_scan_matcher, hector_slam or rf2o_laser_odometry.

  3. It is. But it will only update the filter and the robot position after moving over a threshold. You can tweak those parameters (update_min_d and update_min_a)to always updated the filter (setting them to negative values), even if the robot is not moving, but the load on your CPU will greatly increase.