How cmd_vel is given while using amcl?
How cmd_vel is given while using AMCL. Is there any kinematic model?. How can we add a kinematic robot model for navigation?
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How cmd_vel is given while using AMCL. Is there any kinematic model?. How can we add a kinematic robot model for navigation?
AMCL doesn't use command velocities, its looking for the poses from odometry in TF. Yes, AMCL has kinematic models which are described in the documentation.
Asked: 2019-12-04 04:38:41 -0500
Seen: 197 times
Last updated: Dec 04 '19
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The
AMCL
is used for the localization of the robot it has nothing to do withcmd_vel
. For the navigation of your robot have a look at the navigation wiki.How cmd_vel is generated while navigation ?
With the package
move_base
, there are plenty of tutorials in the link I gave you.Thank you. I cannot find which file is publishing cmd_vel topic.
It's
move_base.cpp
.computeVelocityCommands (geometry_msgs::Twist & cmd_vel ) , what is this function actually do to calculate cmd_vel?