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AMCL, the purpose of "InitialPose" topic

asked 2014-05-05 08:08:08 -0500

AnuZam
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Hi, I am using AMCL package for localization on my robot. I am not sure about what the "InitialPose" topic does. Is it just the initial pose of the robot at the start when we dont have good localization (if yes then do we need to publish it continuously?). Or is it the initial pose that it uses in every iteration to generate new particles (this doesn't make sense since it already has the base_link-->odom and map-->odom transforms). Thank you.

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answered 2014-05-05 08:10:02 -0500

dornhege

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It's the one that makes sense. You have to publish that once at the start (or whenever the robot gets delocalized).

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Thanks dornhege. While we are on the topic what is a good way to check if the robot is delocalized? Right now I am checking the diagonal entries on the covariance matrix (if they are close to 0 it means its good), but I think there might be a better way?

AnuZam ( 2014-05-05 09:41:16 -0500 )edit

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Asked: 2014-05-05 08:08:08 -0500

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Last updated: May 05 '14

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AMCL, the purpose of "InitialPose" topic