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AMCL Initial Pose Problems & Local Map

asked 2017-03-10 15:32:17 -0500

MarkyMark2012 gravatar image


I've got a problem with the initial pose of my Robot. When AMCL comes up with a initial pose of [0,0,0] the pose array is pointing 180 degrees in the wrong direction. If I use 2D Pose Estimate to correct this then the pose array is correct but the local map rotates as well - which means when I stick in a Nav Goal it can't plan as to the map the robot is stuck between two obstacles.

Picture belows shows how the worlds really looks

This image description And this is what happens when I try to correct the pose with the estimate

Why is this happening?



image description

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answered 2017-03-14 02:40:10 -0500

MarkyMark2012 gravatar image

Figured this out - the 2ALaser was 180 degrees out (Input cable was at the back) - so I just rotated it's base and all started working


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Asked: 2017-03-10 15:32:17 -0500

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Last updated: Mar 14 '17