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How to localize a robot in a known map

asked 2014-10-03 00:05:57 -0600

ingcavh gravatar image

Hi everyone,

I'm new in this world of mobile robots and ROS. Currently I wanna know if there are techniques implemented in ROS for self-localization or localization of a robot in a known map that it's provided by a map_server. I try to use AMCL from de Navigation Stack but I could not make it work because I use hector_mapping without odometry information to build a accurate map and, in this moment, my robot doesn't provide me the odometry information. I just wanna know if anyone in this community has/meets or has developed a technique ir ros to do this requirement for navigating. I configured my amcl.launch like several examples in this community but AMCL doesn't work. I tried this solution ( ) and unfortunately I could not get good results, in RVIZ the particleCloud topic doesn't provide a real good localization, any error or warning doesn't appear in the console and all particles, provide in this topic, diverge against to converge to a good pose. I don't know what to do. I think I have to provide a good odometry from my robot but I have read that if I provide bad odometry, AMCL won't work. Anyone knows or has a good tutorial to do that, the information from AMCL package is still insufficient for me because I'm a noob in these topics.

Please, help me, I would appreciate any idea, comment or any solution to do this.

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how are you driving your robot ? if you have velocities you can publish odometry

bvbdort gravatar image bvbdort  ( 2014-10-03 02:01:48 -0600 )edit

I drive my robot with a PWM's modulation (I send a PWM reference), so I can't really estimate the velocities of my robot because my driver control (Driver Maxon Exon 50) doesn't provide me the information about my sensors, it implements a closed loop control but it doesn't provide me a feedback.

ingcavh gravatar image ingcavh  ( 2014-10-03 11:31:58 -0600 )edit

@ingcavh I'm having the exact same issue. Did you find any solution?

sajal gravatar image sajal  ( 2019-06-14 06:27:37 -0600 )edit

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answered 2014-10-31 13:50:45 -0600

Alexandr Buyval gravatar image


You can use a particle filter to localize a robot. For instance see my tutorial

Best Regards, Alex

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Asked: 2014-10-03 00:05:57 -0600

Seen: 1,899 times

Last updated: Oct 31 '14