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how does amcl updates turtlebot's current location to move_base

asked 2014-05-22 23:04:25 -0600

zenifed
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updated 2014-05-23 01:29:58 -0600

dornhege

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I was reading up on ROS's navigation stack as well as amcl 's documentation when I realized from the stack's diagram that move_base does not subscribe to /amcl_pose , which amcl uses to publish the robot's estimated pose in the map. In that case how does move_base update the current localized pose of the robot ?

Thanks

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answered 2014-05-23 01:29:46 -0600

dornhege

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Everything is send via TF. AMCL usually provides the /map -> /odom transform.

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Correct me if I am wrong, so the robot's current position is maintained via a odom transform from the robot's initial position? Also with the AMCL active, the robot no longer subscribe to /tf from the sensor and odometry source?

zenifed ( 2014-05-25 17:43:34 -0600 )edit

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Asked: 2014-05-22 23:04:25 -0600

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Last updated: May 23 '14

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how does amcl updates turtlebot's current location to move_base