ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

amcl tuning for better localization [closed]

asked 2017-05-12 07:49:24 -0500

peterwe gravatar image

updated 2017-05-12 08:03:21 -0500

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!

edit retag flag offensive reopen merge delete

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


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 image Procópio  ( 2017-05-17 03:02:25 -0500 )edit

1 Answer

Sort by » oldest newest most voted

answered 2017-05-18 08:44:38 -0500

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.

edit flag offensive delete link more


What was the reason for the error in laserscan data

JKRoopan gravatar image JKRoopan  ( 2023-01-11 01:01:43 -0500 )edit

Question Tools

1 follower


Asked: 2017-05-12 07:49:24 -0500

Seen: 1,053 times

Last updated: May 12 '17