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How to set the initial pose manually in amcl?

asked 2017-12-08 07:23:04 -0600

Tomas yuan gravatar image

The amcl_node initial the pose by using initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this); I was wondering where does this message pub ? And is there anything I should notice when I set the initial pose manually.

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answered 2017-12-11 01:59:43 -0600

mgruhler gravatar image

You can set the inital pose by publishing to this specific Topic, e.g. from rviz.

Obviously, the inital pose you send should be approximately at the correct Position. You could play around with the covariances to have a more spread or less spread particle cloud, if this benefits your use-case.

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answered 2018-03-27 00:15:23 -0600

Will Chamberlain gravatar image

per - you can also

specify the initial pose estimate directly as startup parameters for amcl, see initial_pose_x and other similar parameters. This is appropriate for example if you can fix these parameters in your launch file before starting the node.

e.g. <arg name="initial_pose_x" value="-1.0"/> <arg name="initial_pose_y" value="10.0"/> <arg name="initial_pose_z" value="0.0"/>

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ok,thank u

Tomas yuan gravatar image Tomas yuan  ( 2018-03-27 04:19:59 -0600 )edit

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Asked: 2017-12-08 07:23:04 -0600

Seen: 6,396 times

Last updated: Mar 27 '18