How to do amcl only with a rplidar? [closed]
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!
What error do you get?
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.
Sounds more like a bug then a question. Better fill a bug report against the crashing node.
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...
Please create a new question.