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Publish initial pose

asked 2012-01-16 06:12:49 -0600

Dallas Goecker gravatar image

Is there a better way to publish the initial pose to AMCL other than creating a publisher and delaying a few seconds before publishing it? How do I know it got it? How do I know if AMCL has even started yet?

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answered 2012-01-16 08:45:26 -0600

Eric Perko gravatar image

If you just want to make sure that it gets it once it starts, I suggest using a Publisher with a latched topic. That way, whenever amcl gets around to subscribing to the initialpose topic, as long as your node already has published it, amcl should get it.

See the roscpp docs for information on how to make a latched publisher in C++.

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answered 2012-01-16 07:17:10 -0600

DimitriProsser gravatar image

rosnode list can tell you if AMCL has started.

The other way to define the initial pose is through Rviz. I know that Rviz has an option for 2D Pose Estimate that you can use.

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Asked: 2012-01-16 06:12:49 -0600

Seen: 2,442 times

Last updated: Jan 16 '12