How to do amcl only with a rplidar? [closed]

asked 2017-06-15 00:42:01 -0500

Alemon gravatar image

Hey guys, I've been trying to use a rplidar A1 to achieve amcl localization.
Here's what I do, 1. rocore 2. roslaunch rplidar_ros rplidar.launch 3. rosrun map_server map_server /home/relaybot/mymap.yaml 4. rosrun tf static_transform_publisher 0 0 0 0 0 0 /base_link /laser 100 5. roslaunch laser_scan_matcher laser_scan.launch 6. rosrun amcl amcl scan:=scan 7. rosrun rviz rviz

laser_scan.launch* <launch>

publish an example base_link -> laser transform

this was the error

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40"/>

start the laser scan_matcher

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">

<param name="fixed_frame" value = "odom"/>
<param name="base_frame" value="base_link"/>
<!--param name="fixed_frame" value="world"/-->
<param name="use_alpha_beta" value="true"/>
<param name="use_odom" value="false"/>
<param name="use_imu" value="false"/>
<param name="max_iterations" value="10"/>
<param name="publish_pose" value="true"/>
<param name="publish_tf" value="true"/>
<param name="use_vel" value="false"/>

</node> </launch> Is there anything wrong with behaviors above? If any, please enlighten me. Thanks a lot!

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Closed for the following reason question is not relevant or outdated by Alemon
close date 2017-06-15 21:26:59.580170


What error do you get?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-06-15 03:25:47 -0500 )edit

I got this line after step 6. Segmentation fault (core dumped) Step 5 seems to have affect to Step 6, since I didn't get anything wrong without Step 5.

Alemon gravatar image Alemon  ( 2017-06-15 03:43:56 -0500 )edit

Sounds more like a bug then a question. Better fill a bug report against the crashing node.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-06-15 04:18:07 -0500 )edit

Hello. I have created a map (.yaml) with Hector SLAM. Now I want to know the localization of my RPLiDAR using AMCL. Could you please explain me how to do that. I have read a lot and still do not know how to proceed. Which launch files shoud I have for laser_scan matcher and amcl. Which transforms should I use? I am lost...

Miguel_Arriscado gravatar image Miguel_Arriscado  ( 2020-02-26 11:02:37 -0500 )edit

Please create a new question.

Humpelstilzchen gravatar image Humpelstilzchen  ( 2020-02-26 12:11:35 -0500 )edit