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How do I get the pose estimated by AMCL at a fixed rate?

asked 2016-02-21 15:45:48 -0500

Marty gravatar image

Hi everybody, I'd like to know if there is a way to get the 2D pose estimates by AMCL at a fixed rate as is the case for the Hector SLAM in which the topic poseupdate provides the pose estimates at 40Hz with the Hokuyo UTM-30LX.

Thanks in advance!

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answered 2016-02-21 19:06:07 -0500

jorge gravatar image

Afaik, not without modifying the code, as amcl running frequency is marked by the /scan messages arrival. Even then, you normally see lower frequencies because if update_min_d/update_min_a parameters are >= 0, it skip scans until the robot moves/turns more than these values (with negative values, amcl publishes poses even when the robot is stopped.

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Thank you for your reply Jorge. I set update_min_d/update_min_a with negative values but I get the following error

Transform [sender=unknown_publisher] For frame [laser]: No transform to fixed frame [map].

This error does not occur if the two parameters are positive.

Marty gravatar image Marty  ( 2016-02-25 05:04:41 -0500 )edit

mmm.... I noticed that by inspecting the code, tried it on Stage simulation and it worked... which ROS version are you using?

jorge gravatar image jorge  ( 2016-02-25 06:42:45 -0500 )edit

ROS Indigo

Marty gravatar image Marty  ( 2016-02-25 08:31:34 -0500 )edit

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Asked: 2016-02-21 15:45:48 -0500

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Last updated: Feb 21 '16