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Why amcl is not working?

asked 2012-04-19 03:39:59 -0600

Torres gravatar image

updated 2012-04-19 04:47:13 -0600

Hi, I am trying to implement amcl on rviz using nxt and kinect.

However, it just can't localize itself. I have used rviz 2D pose estimate to select the initial location of the robot as shown below (but no particle cloud is shown after I release my mouse click button -> rviz highlighted the particle cloud in yellow)

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The navigation stack is working perfectly, it can plan the required navigation path and move to the desired destination, as shown in the pictures below:

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The rxgraph is shown below (amcl did received all the 4 needed subscribed topics which are /scan, /tf, /map and /initialpose reference) :

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Clearer Image for rxgraph

The tf_frames is shown below (I can't detect any error with the tf_frames as well ,hmm...):

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The yaml files:


obstacle_range: 2.5

raytrace_range: 3.0

footprint: [[0.305, 0.278], [0.04, 0.193], [-0.04, 0.193], [-0.282, 0.178], [-0.282, -0.178], [-0.04, -0.193], [0.04, -0.193], [0.305, -0.278]]

inflation_radius: 0.55

observation_sources: laser_scan_sensor

laser_scan_sensor: {sensor_frame: openni_depth_frame, data_type: LaserScan, topic: scan, marking: false, clearing: true}



  global_frame: /map

  robot_base_frame: base_footprint

  update_frequency: 5.0

  static_map: true



  global_frame: odom_combined

  robot_base_frame: base_footprint

  update_frequency: 5.0

  publish_frequency: 2.0

  static_map: false

  rolling_window: true

  width: 6.0

  height: 6.0

  resolution: 0.05



  max_vel_x: 0.45

  min_vel_x: 0.1

  max_rotational_vel: 1.0

  min_in_place_rotational_vel: 0.4

  acc_lim_th: 3.2

  acc_lim_x: 2.5

  acc_lim_y: 2.5

  holonomic_robot: False

The launch files:



<node pkg="amcl" type="amcl" name="amcl" output="screen">

  <param name="use_map_topic " value="true"/>

  <!-- Publish scans from best pose at a max of 10 Hz -->

  <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"/>





  <master auto="start"/>

  <!-- Run the map server -->

  <node name="map_server" pkg="map_server" type="map_server" args="$(find not_good)/Maps/map.pgm 0.05"/>

  <!-- tf /map to /odom_combined -->

  <node pkg="tf" type="static_transform_publisher" name="map_to_odom_combined" args="100 100 0 0 ...
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2 Answers

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answered 2012-04-19 15:29:10 -0600

Eric Perko gravatar image

updated 2012-04-24 05:31:03 -0600

If your odometry frame is odom_combined, you should change the odom_frame_id AMCL parameter to odom_combined. I see you have it set to odom.

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Thanks Eric Perko. =)

Torres gravatar image Torres  ( 2012-04-23 22:20:15 -0600 )edit

Thanks Eric Perko =) Could you please have a look at this post as well thanks

Torres gravatar image Torres  ( 2012-05-04 21:26:58 -0600 )edit

answered 2012-04-19 15:05:48 -0600

weiin gravatar image

Take a look at this

AMCL provides the transform from /map to /odom_combined so you do not need the static_transform_publisher node running

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Asked: 2012-04-19 03:39:59 -0600

Seen: 4,385 times

Last updated: Apr 24 '12