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Autonomous Localization using AMCL

asked 2017-02-03 05:09:45 -0600

Rayner gravatar image


I am trying to get my turtlebot to localize itself automatically instead of me using the 2D Pose Estimate. Is there any way I can make that possible? I am using an RPLidar A2 sensor only.

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answered 2017-02-09 09:43:38 -0600

Procópio gravatar image

You can try the calling rosservice call /global_localization It will spread AMCL particles all around your map, so once you start moving, or calling rosservice call /no_motion_update as mentioned by @achimk, it may converge to your actual position.

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answered 2017-02-03 08:14:42 -0600

achimk gravatar image

You could try to repeatedly call AMCL's no_motion_update service. But you might get stuck in local minima. The no_motion_update service is not documented in the wiki, but can be found in the source code here:

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Hi, thanks for your reply! Would love to give it a try but I am not too sure how to go about doing it. Could you help me out? Thanks. Sorry I am quite new to ROS and programming for that matter.

Rayner gravatar image Rayner  ( 2017-02-03 09:57:09 -0600 )edit

can you merge this answer with the previous one, please. it is best to have only one answer and improve it with comments and edits. thanks.

Procópio gravatar image Procópio  ( 2017-02-09 09:41:14 -0600 )edit

answered 2017-02-03 10:16:55 -0600

achimk gravatar image

All you would need to do is to call rosservice call /no_motion_update or something like this. Use rosservice list if the service doesn't exist.

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Thanks for the reply! This helped but I think it is most effective in a enclosed area. If the map environment is too big with obstacles around, it will always reach local minima.

Rayner gravatar image Rayner  ( 2017-02-04 05:19:49 -0600 )edit

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Asked: 2017-02-03 05:09:45 -0600

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Last updated: Feb 09 '17