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rviz shows the robot's location differently from gazebo

asked 2011-08-26 07:04:02 -0500

130s gravatar image

updated 2011-08-26 07:07:21 -0500

I've been learning how to use simulation tools, and now trying to use both gazebo and rviz together.

In the tutorial "Simulating the 2dnav Stack", it seems gazebo and rviz work as expected when I use pr2-armless-wg-fake_localization.launch, however, when pr2-wg-amcl.launch is in use, rviz shows the robot at the corner of the entire field even though the robot is located at the center on gazebo.

My guess is that localization is not working properly since other launch files in the same tutorial folder with fake_localization in their file names work, whereas other amcl files don't either. I'm looking into each launch file but if someone could give direct solutions, that'd be great.

Env) Ubuntu 10.10, diamondback

Thank you.

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answered 2011-08-26 07:14:45 -0500

hsu gravatar image

Just as in the real world, when using amcl, you need to localize the robot first by giving it an initial pose. Also take a look at the amcl localization notes.

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@hsu thanks. Once I figure out how to run the tutorial above, I'll mark your answer, and also update the wiki page.
130s gravatar image 130s  ( 2011-08-26 10:45:03 -0500 )edit

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Asked: 2011-08-26 07:04:02 -0500

Seen: 763 times

Last updated: Aug 26 '11