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AMCL with fake odometry

asked 2017-07-08 14:46:32 -0500

hiwak
1 ●1 ●1 ●1

Hi everyone,

AMCL needs odometry and we only have laser scanners (encoders are unreliable). I tried to fake odometry for AMCL by using /cmd_vel topic. The fake odometry seems to be correct but AMCL is not localizing any good. I know that I can use laser_scan_matcher to get odometry but there are some places in environment that laser scan matcher is not working correctly. With these being said, here are my questions :

Will AMCL ever work with fake odometry ?
Will adding fake odometry to laser_scan_matcher help it not to get lost when laser is blocked (like when laser is facing a wall and robot moves sideways) ?
Is AMCL really using laser data to correct it's position ? Because it seems to be working only based on odometry it receives.

Thanks in advance

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answered 2017-07-17 02:23:06 -0500

Procópio

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When you say "tried to fake odometry for AMCL by using /cmd_vel topic", what exactly do you mean? If you are using the /cmd_vel to generate a new /odom topic, make sure you are also broadcasting the odom->base_link transform.

It depends on how good is your fake odometry, but it should work.
Yes (see 1.). You can also try other laser odometry packages, as the polar_scan_matcher, hector_slam or rf2o_laser_odometry.
It is. But it will only update the filter and the robot position after moving over a threshold. You can tweak those parameters (update_min_d and update_min_a)to always updated the filter (setting them to negative values), even if the robot is not moving, but the load on your CPU will greatly increase.

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Asked: 2017-07-08 14:44:43 -0500

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Last updated: Jul 17 '17

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