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Running robot_pose_ekf and amcl

asked 2015-02-27 18:28:20 -0500

velveteenrobot gravatar image

We are trying to use the Leg Detector package on the Turtlebot to detect people and then send goals to the navigation stack to follow a person. Separately, running leg detection and amcl work fine. However, when you run them together there are problems. robot_pose_ekf, which the leg_detector needs, seems to interfere with amcl somehow. Can anyone explain why this happens and how I can get around it? I think it's problem some duplication in pose estimation, so maybe hopefully it's something easy that I'm missing.

Thanks, Sarah

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answered 2015-02-27 22:19:25 -0500

One possibility is that there are interfering published transforms. Did you try dumping the tf graph both with and without amcl running? E.g., rosrun tf view_frames. To debug this, you could try spawning the amcl with modified odom_frame_id, base_frame_id, and global_frame_id parameters. Confer http://wiki.ros.org/amcl#Parameters (near the bottom of the page).

You wrote that robot_pose_ekf is required by leg_detector. However, there is no indication of this in the package description. It is required to specify a reference frame (parameter fixed_frame), which could be provided by multiple packages, e.g., robot_pose_ekf or amcl.

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Asked: 2015-02-27 18:28:20 -0500

Seen: 454 times

Last updated: Feb 27 '15