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amcl_pose does not publish

asked 2014-02-04 18:47:51 -0500

maysamsh gravatar image

updated 2014-02-04 21:03:00 -0500

Following my last question, No laser scan recieved still nothing is published by /amcl_pose and roswtf out is:

WARNING The following node subscriptions are unconnected:
 * /amcl:
   * /initialpose

Found 5 error(s).

ERROR Communication with [/amcl] raised an error: 
ERROR Communication with [/play_1391569963540725368] raised an error: 
ERROR Communication with [/rosout] raised an error: 
ERROR Communication with [/map_server_1391569952840022254] raised an error: 
ERROR The following nodes should be connected but aren't:
 * /amcl->/amcl (/tf)
 * /play_1391569963540725368->/amcl (/base_scan)
 * /play_1391569963540725368->/map_server_1391569952840022254 (/clock)
 * /play_1391569963540725368->/amcl (/clock)
 * /map_server_1391569952840022254->/rosout (/rosout)
 * /amcl->/rosout (/rosout)
 * /play_1391569963540725368->/rosout (/rosout)
 * /play_1391569963540725368->/amcl (/tf)
 * /play_1391569963540725368->/play_1391569963540725368 (/clock)

What's the problem?

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1 Answer

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answered 2014-02-06 19:59:17 -0500

fergs gravatar image

updated 2014-02-06 19:59:45 -0500

AMCL is probably waiting for an initial pose. There are two ways to do this: using RVIZ, or using the parameter server:

  • This tutorial shows how to send an initial pose using RVIZ
  • you can set the pose via parameters using the amcl parameters initial_pose_x, initial_pose_y, initial_pose_a (see for a description of the parameters)
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@fergs, I have the same problem, when I do "rostopic echo /amcl_pose", there is no messages!!!! I try rviz to set the initial pose, then we get the co-ordinate from rxconsole output..Is there any way to calculate robot position by listening to some topic?

RB gravatar image RB  ( 2014-04-30 04:40:58 -0500 )edit

hi,i have the same problem,when i use rostopic echo /amcl_pose give me these warning: WARNING: no messages received and simulated time is active. Is /clock being published? do you solve your problem?

yasamin gravatar image yasamin  ( 2014-05-23 04:01:04 -0500 )edit

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Asked: 2014-02-04 18:47:51 -0500

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Last updated: Feb 06 '14