AMCL does not localise

asked 2019-01-14 06:31:32 -0600

stevemartin gravatar image

updated 2019-01-14 08:04:22 -0600

I am running the AMCL package but for some reason it cannot localise the robot even though it receives the laser beams and the map is given.

Here is my launch file of AMCL:

 <arg name="scan_topic" default="/scan"/>
   <node pkg="amcl" type="amcl" name="amcl">
    <param name="base_frame_id" value="base_footprint"/>
    <param name="use_map_topic " value="false"/>
    <param name="odom_model_type" value="diff"/>
    <param name="odom_alpha5" value="0.1"/>
    <param name="transform_tolerance" value="0.2" />
    <param name="gui_publish_rate" value="10.0"/>
    <param name="laser_max_beams" value="30"/>
    <param name="min_particles" value="500"/>
    <param name="max_particles" value="5000"/>
    <param name="kld_err" value="0.05"/>
    <param name="kld_z" value="0.99"/>
    <param name="odom_alpha1" value="0.2"/>
    <param name="odom_alpha2" value="0.2"/>
    <!-- translation std dev, m -->
    <param name="odom_alpha3" value="0.8"/>
    <param name="odom_alpha4" value="0.2"/>
    <param name="laser_z_hit" value="0.5"/>
    <param name="laser_z_short" value="0.05"/>
    <param name="laser_z_max" value="0.05"/>
    <param name="laser_z_rand" value="0.5"/>
    <param name="laser_sigma_hit" value="0.2"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_lambda_short" value="0.1"/>
    <param name="laser_model_type" value="likelihood_field"/>
    <!-- <param name="laser_model_type" value="beam"/> -->
    <param name="laser_likelihood_max_dist" value="2.0"/>
    <param name="update_min_d" value="0.2"/>
    <param name="update_min_a" value="0.5"/>
    <param name="odom_frame_id" value="odom"/>
    <param name="resample_interval" value="1"/>
    <param name="transform_tolerance" value="0.1"/>
    <param name="recovery_alpha_slow" value="0.0"/>
    <param name="recovery_alpha_fast" value="0.0"/>

Here is the bag file: LINK

Here is my TF tree:

image description

Can someone point what am I doing wrong?

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Isn't this a duplicate of #q312676?

gvdhoorn gravatar image gvdhoorn  ( 2019-01-14 07:08:41 -0600 )edit

@gvdhoorn I thought I have deleted that question as I have asked two questions there and made this one cleaner

stevemartin gravatar image stevemartin  ( 2019-01-14 07:19:16 -0600 )edit

@gvdhoorn For some reason I press delete and nothing happens

stevemartin gravatar image stevemartin  ( 2019-01-14 07:20:03 -0600 )edit

I've deleted it for you.

I'm not sure how your current question is "more clean" or clearer? I expect people to start asking you for a screenshot showing what the problem is, and/or your TF tree, etc.

You had all that in #q312676.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-14 07:51:44 -0600 )edit

@gvdhoorn Good point, I have added the TF. I think bagfile is much more useful than a screenshot and screenshot might be slightly misleading in this case.

stevemartin gravatar image stevemartin  ( 2019-01-14 08:05:16 -0600 )edit