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Dynamically Reconfigure AMCL Params

asked 2019-07-11 16:47:38 -0500

JackB gravatar image

How is it possible to dynamically reconfigure AMCL params with the dynamic_reconfigure package? AMCL does not have a set_params service so the reconfigure node always times out waiting for it to be advertised and accomplishes nothing.

I hope this is a simple question to answer, thanks so much!

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answered 2020-08-25 06:51:07 -0500

Roberto Z. gravatar image

updated 2020-08-25 08:38:59 -0500

How is it possible to dynamically reconfigure AMCL params with the dynamic_reconfigure package?

rqt_reconfigure succeeds former dynamic_reconfigure's GUI.
Here is how to reconfigure AMCL using rqt_reconfigure's graphical user interface:

Start AMCL and pass the laser scans topic and robot base_frame_id as parameters. In my case it is:

$ rosrun amcl amcl scan:=/kobuki/laser/scan base_frame_id:=/base_footprint

Or create an amcl launch file and use that launch file to start the amcl node.

Then launch rqt_reconfigure:

$ rosrun rqt_reconfigure rqt_reconfigure

You will see the screen as follows:

image description

Click on amcl on the left side panel.

To modify the parameters on the fly, click and drag any of the sliders.

image description

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Asked: 2019-07-11 16:47:38 -0500

Seen: 184 times

Last updated: Aug 25 '20