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How to utilize amcl in navigation?

Hello friends. I've just got the particlecloud and amclpose with a single rplidar. How am I supposed to utilize the feedbacks in robot navigation. Likely, is that OK to replace the pose of the base with amclpose? If yes, how to do it? How to use the amcl_pose as localization function during navigating? All your answers will help me a lot. Thanks!

Asked by Alemon on 2017-06-19 19:48:42 UTC

Comments

Its unclear to me what you mean with "robot navigation" Do you mean the ros navigation stack? or the robot localization node?

Asked by Humpelstilzchen on 2017-06-20 02:43:25 UTC

well, I mean how to tell the move_base node where I am in amcl_pose?

Asked by Alemon on 2017-06-20 06:14:26 UTC

See the navigation tutorials. amcl provides the odom-map transform. So just set "map" as "global_frame" in your global costmap.

Asked by Humpelstilzchen on 2017-06-20 09:57:06 UTC

Answers