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How cmd_vel is given while using amcl?

asked 2019-12-04 04:38:41 -0600

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?

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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 imageDelb ( 2019-12-04 05:14:33 -0600 )edit

How cmd_vel is generated while navigation ?

Anandu R gravatar imageAnandu R ( 2019-12-04 05:50:53 -0600 )edit

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

Delb gravatar imageDelb ( 2019-12-04 06:19:17 -0600 )edit

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

Anandu R gravatar imageAnandu R ( 2019-12-04 06:38:23 -0600 )edit

It's move_base.cpp.

Delb gravatar imageDelb ( 2019-12-04 07:48:19 -0600 )edit

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

Anandu R gravatar imageAnandu R ( 2019-12-04 22:51:12 -0600 )edit

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answered 2019-12-04 11:16:35 -0600

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.

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Asked: 2019-12-04 04:38:41 -0600

Seen: 20 times

Last updated: Dec 04 '19