Autonomous Localization using AMCL

asked 2017-02-03 05:09:45 -0500

62 ●15 ●20 ●26

Hi,

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.

edit retag flag offensive close merge delete

add a comment

0

answered 2017-02-09 09:43:38 -0500

Procópio

flag of United Kingdom of Great Britain and Northern Ireland

4402 ●23 ●64 ●67 https://www.linkedin.c...

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.

edit flag offensive delete link

add a comment

0

answered 2017-02-03 08:14:42 -0500

achimk
11 ●1 ●1

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: https://github.com/ros-planning/navig...

edit flag offensive delete link

Comments

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 ( 2017-02-03 09:57:09 -0500 )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 ( 2017-02-09 09:41:14 -0500 )edit

add a comment

0

answered 2017-02-03 10:16:55 -0500

achimk
11 ●1 ●1

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.

edit flag offensive delete link

Comments

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 ( 2017-02-04 05:19:49 -0500 )edit

add a comment

Autonomous Localization using AMCL

3 Answers

Comments

Comments

Question Tools

Stats

Related questions

Autonomous Localization using AMCL edit

3 Answers

Comments

Comments

Question Tools

Stats

Related questions

Autonomous Localization using AMCL