problem publishing tf map->base_link

asked 2014-07-28 08:17:28 -0600

847 ●37 ●62 ●72

I wrote my own localization and I figured out hat amcl is publishing map->odom and not map->base_link. Which is strange but on the end I had to do the same by computing first the difference to publish map->odom->base_link. Can anyone help my out to clarify this situation.

Thanks

edit retag flag offensive close merge delete

Comments

How did you managed to have map->odom->base_link ? I'm struggling to have map->odom (I already have odom->base_link)

Moda ( 2014-07-28 08:20:25 -0600 )edit

Yes my stuff is working. I had a look how it is done in amcl_node.cpp line 1125-1160.

Markus Bader ( 2014-07-29 02:08:32 -0600 )edit

Thanks, that's what I was looking for. Here is a link to the AMCL code with updated line #: http://docs.ros.org/lunar/api/amcl/ht...

lalten ( 2018-02-08 04:12:12 -0600 )edit

Hi lalten! To not edit AMCL, what it does makes perfect sense, have a look at the figures on the bottom of http://wiki.ros.org/amcl and on domhege answer below.

Markus Bader ( 2018-09-06 01:50:10 -0600 )edit

add a comment

Comments

Thanks, now a day later it is clear. It also solves the problem of different update rates and allows a native localization base on the last localization update and odom values.

Markus Bader ( 2014-07-29 02:09:59 -0600 )edit

add a comment

problem publishing tf map->base_link

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

problem publishing tf map->base_link edit

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

problem publishing tf map->base_link