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Gazebo amcl_pose rate

asked 2016-09-12 13:41:59 -0500

Miguel Velez gravatar image


I am running a turtlebot in Gazebo and want to change the amcl_pose rate. Currently, when I type rostopic hz /amcl_pose, I get 1 or 2 messages like the following every 1 second:

average rate: 1.856
    min: 0.132s max: 0.849s std dev: 0.14089s window: 80

Is there a way to increase this rate?


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answered 2016-09-12 22:46:00 -0500

Shay gravatar image

Actually, the amcl_pose rate doesn't have to be that fast. Cuz odom_pose rate is 10Hz to 50Hz, which is continuous. The duty of amcl_pose is to fix the odometry drift.

While I guess you can still change the amcl_pose rate by tuning the parameters of amcl. You can go to amcl wiki for details. You may tune the max_particles, update_min_d or other parameters, but it hard to change the rate directly, in my opinion.

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Thank you!

Miguel Velez gravatar image Miguel Velez  ( 2016-09-13 07:15:55 -0500 )edit

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Asked: 2016-09-12 13:41:59 -0500

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Last updated: Sep 12 '16