How to utilize amcl in navigation?
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!
Its unclear to me what you mean with "robot navigation" Do you mean the ros navigation stack? or the robot localization node?
well, I mean how to tell the move_base node where I am in amcl_pose?
See the navigation tutorials. amcl provides the odom-map transform. So just set "map" as "global_frame" in your global costmap.