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For amcl you have to options:
Publish to initalpose (after startup) or set the intial_pose_x/y/a parameters (before startup of amcl). Check the wiki for details.
You can obviously use those by writing your own node which does the saving to file, loading from file and publish/set parameters. Only thing to somehow keep track of is wether this has the desired effect, i.e. some kind of state checking which distinguishes between "amcl started, but at origin location" and "amcl started and read start parameters / got initialpose".
| | 2 | No.2 Revision |
For amcl you have to options:
Publish to initalpose (after startup) or set the intial_pose_x/y/a parameters (before startup of amcl). Check the wiki for details.
You can obviously use those by writing your own node which does the saving to file, loading from file and publish/set parameters. Only thing to somehow keep track of is wether this has the desired effect, i.e. some kind of state checking which distinguishes between "amcl started, but at origin location" and "amcl started and read start parameters / got initialpose".initialpose". As both, setting the parameters before amcl starts and sending to a topic is not easy to get feedback on, you'd need to be creative :-)
Edit:
actually, there is a third option, which is calling the set_map service. This allows you to send a map together with the inital pose. As this is a service, you'll receive notifications about wether this has been successfull.
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