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Positioning multi-robot on static map

asked 2014-02-20 22:20:00 -0500

Zephyrin gravatar image

updated 2014-02-21 05:15:18 -0500

Hi,

I make a package with two Turtlebots and share a static map on Gazebo. My problem is that I can positionning Turtlebots where I want on a static global map.

I use GMapping and MoveBase and I try to make an exploration of an unknown environment.

When I use AMCL, turtlebots move between the center of the map and the real robot's position.

Is it possible to initialise the position of each Turtlebot on static map, and how ?

Thanks

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answered 2014-02-24 19:34:36 -0500

jihoonl gravatar image

AMCL has initial_pose parameters. These parameters may help you to initialise the pose of robots.

~initial_pose_x (double, default: 0.0 meters)
~initial_pose_y (double, default: 0.0 meters)
~initial_pose_a (double, default: 0.0 radians)
~initial_cov_xx (double, default: 0.50.5 meters)
~initial_cov_yy (double, default: 0.5
0.5 meters)
~initial_cov_aa (double, default: (π/12)*(π/12) radian)

http://wiki.ros.org/amcl

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Thank, I use these config at first. But with this, my robot was jumping between the center of static map and his real position. I made an exploration of unknown environment so I need a stable robot which doesn't jump. Do you think if I plublish on the initialpose topics it can help me to fixe it ?

Zephyrin gravatar image Zephyrin  ( 2014-02-24 21:18:11 -0500 )edit

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Asked: 2014-02-20 22:20:00 -0500

Seen: 297 times

Last updated: Feb 24 '14