Ask Your Question
0

How cmd_vel is given while using amcl?

asked 2019-12-04 04:38:41 -0500

Anandu R gravatar image

How cmd_vel is given while using AMCL. Is there any kinematic model?. How can we add a kinematic robot model for navigation?

edit retag flag offensive close merge delete

Comments

The AMCL is used for the localization of the robot it has nothing to do with cmd_vel. For the navigation of your robot have a look at the navigation wiki.

Delb gravatar image Delb  ( 2019-12-04 05:14:33 -0500 )edit

How cmd_vel is generated while navigation ?

Anandu R gravatar image Anandu R  ( 2019-12-04 05:50:53 -0500 )edit

With the package move_base, there are plenty of tutorials in the link I gave you.

Delb gravatar image Delb  ( 2019-12-04 06:19:17 -0500 )edit

Thank you. I cannot find which file is publishing cmd_vel topic.

Anandu R gravatar image Anandu R  ( 2019-12-04 06:38:23 -0500 )edit

It's move_base.cpp.

Delb gravatar image Delb  ( 2019-12-04 07:48:19 -0500 )edit

computeVelocityCommands (geometry_msgs::Twist & cmd_vel ) , what is this function actually do to calculate cmd_vel?

Anandu R gravatar image Anandu R  ( 2019-12-04 22:51:12 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2019-12-04 11:16:35 -0500

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.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2019-12-04 04:38:41 -0500

Seen: 59 times

Last updated: Dec 04 '19