How to utilize amcl in navigation?

asked 2017-06-19 19:48:42 -0500

Alemon gravatar image

updated 2017-06-19 21:26:02 -0500

Hello friends. I've just got the particlecloud and amcl_pose 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 amcl_pose? 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!

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

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-06-20 02:43:25 -0500 )edit

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

Alemon gravatar image Alemon  ( 2017-06-20 06:14:26 -0500 )edit

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

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-06-20 09:57:06 -0500 )edit