How to make just localization ?

asked 2019-07-27 08:23:44 -0600

Hi, I am using hector mapping for mapping and it is working properly. Also I am saving the map and upload it to rviz again. However after uploaded the map to rviz, I want that to find the localization of robot automatically without mapping again. Could someone help me please? Thank you.

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Not sure what you are trying to do from the limited information, but I'm guessing you need something like AMCL Where one of the topics you need to provide is the map generated by for instance hector mapping. You can perform the mapping procedure once and after that just use a localization method that uses the generated map.

MCornelis gravatar image MCornelis  ( 2019-07-29 07:49:37 -0600 )edit

Hi, first of all thank you for your reply. I am using jackal. I did mapping with hector mapping. Also I installed AMCL. However I want that to localize itself automatically instead of me using the 2D Pose Estimate. Is there anyway to do that ?

alprncinar gravatar image alprncinar  ( 2019-07-30 02:39:30 -0600 )edit

It sounds like you want to do global localization first. I believe this is a setting in the AMCL package. Are you familiar with particle filters for localization? I highly recommend you to read "Probabilistic Robotics" by Dieter Fox, Sebastian Thrun and Wolfram Burgard. This will give you a basic understanding of how probabilistic localization methods work. If you care more about fast implementation than a full understanding I can recommend looking for the keywords "ROS" "AMCL" "Global Localization" and "example" and see what comes up :).

MCornelis gravatar image MCornelis  ( 2019-07-30 02:56:33 -0600 )edit

Thank you again. I am new in ROS. That's why sorry for my questions :) However, I've tried global localization but it does not localize itself in correct place. Do you have any suggestion or where should I check ?

alprncinar gravatar image alprncinar  ( 2019-07-31 01:53:59 -0600 )edit