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amcl tuning for better localization [closed]

asked 2017-05-12 07:49:24 -0600

peterwe gravatar image

updated 2017-05-12 08:03:21 -0600

Hi all,

I'm pretty desperate right now because I can't figure out where my mistake is. I hope someone can enlighten me.

When I try to localize my robot (while driving) the laserscan data moves with it (but it should stay on the obstacles in the static map I use). In detail: I set the robots pose with the "2D Pose Estimate". I drive towards a wall (using robot steering) and as the robot approaches the wall the laserscan data moves towards the robot. As a result of that the robot does not localize properly. Here are two screenshots of rviz for better visualization (before and after driving) Can anyone give me a hint into the right direction?

Any help would be appreciated!

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Closed for the following reason the question is answered, right answer was accepted by Procópio
close date 2017-05-19 07:39:02.551791

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please, post your amcl config and your tf tree. is this a real robot or a simulation? how are you generating your odometry?

Procópio gravatar imageProcópio ( 2017-05-17 03:02:25 -0600 )edit

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answered 2017-05-18 08:44:38 -0600

peterwe gravatar image

I'm sorry for the late reply. Thank you for your help but I figured out the problem. It was in the base_controller responsible for handling the cmd_vel commands.

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Asked: 2017-05-12 07:49:24 -0600

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Last updated: May 12 '17