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Can you use SLAM Gmapping in conjunction with AMCL Node?

asked 2019-05-15 14:17:11 -0600

StewartHemm74 gravatar image

I understand that AMCL node deals with robot localization. SLAM gmapping deals with Localization and mapping. Is there anyway to use AMCL node with SLAM gmapping to properly localize my robot in a map?

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answered 2019-05-16 12:37:25 -0600

A_Hari gravatar image

I believe the Gmapping node just uses a particle filter with a fixed number of particles. The pose estimate generated by the gmapping node is basically not published but internally estimates the position. To increase localization while mapping you can increase the particles at the cost of computation. AMCL basically works on a generated map and dynamically assigns particles based on KL Distance. Hope it helps.

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Thanks! where would I increase the particles if I'm using a lidar for scanning information?

StewartHemm74 gravatar image StewartHemm74  ( 2019-05-16 12:41:18 -0600 )edit

A parameter called "particles" in the gmapping node can increase the number of particles in the particle filter.

A_Hari gravatar image A_Hari  ( 2019-05-16 12:48:24 -0600 )edit

answered 2019-05-16 00:57:01 -0600

SleepyTurtle gravatar image

AMCL needs a map in order to localize the robot. A common tactic is using gmapping to create this map, save it using map_server, and then serve it to AMCL.

You can find a tutorial about how to create and save a map here, just use you real robot data instead of a bagfile.

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Thanks! What about localization using SLAM Gmapping?

StewartHemm74 gravatar image StewartHemm74  ( 2019-05-16 10:17:00 -0600 )edit

I'm sorry, I don't quite understand what you mean, Are you asking how to improve localization during SLAM or how to do localization with a map?

SleepyTurtle gravatar image SleepyTurtle  ( 2019-05-17 00:36:15 -0600 )edit

How to improve localization during SLAM. I'm trying to navigate the robot in an unknown area using SLAM gmapping.

StewartHemm74 gravatar image StewartHemm74  ( 2019-05-17 08:51:44 -0600 )edit

I think on that case you should actually improve your odometry. For example, if you have multiple sensors, e.g., encoder, IMU, you could use the robot localization package and output a filtered odometry, which in turn it can be used as an input to Gmapping. Once you have better odometry, Gmapping shall provide better SLAM results which include the localization w.r.t the map and mapping.

Danny_PR2 gravatar image Danny_PR2  ( 2020-03-20 03:28:36 -0600 )edit

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Asked: 2019-05-15 14:17:11 -0600

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Last updated: May 16 '19