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Hi
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
This is unintuitively strange indeed, but correct. The reason for that is that TF can only form a tree, thus having /map->/base_link and /odom->/base_link there would be a node with two parents.
More details are here: http://www.ros.org/reps/rep-0105.html
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.
Asked: 2014-07-28 08:17:28 -0500
Seen: 948 times
Last updated: Jul 28 '14
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How did you managed to have map->odom->base_link ? I'm struggling to have map->odom (I already have odom->base_link)
Yes my stuff is working. I had a look how it is done in amcl_node.cpp line 1125-1160.
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...
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.