amcl_pose publisher file

Hello everyone We are developing a new localization algorithm and I want to publish pose with ros but now we are using turtlebot3. I want to block amcl_pose topic and publish our calculated pose with same topic name. However I did not found amcl codes in my workspace. How can i find amcl and amcl pose topic.

Asked by bekirbostanci on 2019-10-13 06:27:21 UTC

Comments

I'm unfamiliar with turtlebot3 but you likely have an amcl node running somewhere on it. As a test you can use rostopic info /amcl_pose to figure out what node is publishing it and then run rosnode kill to destroy that node and then run your node. Long term solution is to change how nodes are launched on the turtlebot and launching your node instead of amcl.

Asked by Jari on 2019-10-14 19:54:20 UTC