How to change amcl_pose publish rate/frequency?

Hi, I am just starting to use AMCL package, and I noticed that the publishing rate is very low. https://answers.ros.org/question/256155/the-publish-frequency-of-amcl_pose-in-navigation-amcl-package-is-too-low/ I tried to adjust the parameters according to this post, and the following are the changes I made to the parameters in the package:

Changed the parameters updatemind and updatemina to negative values in 'src/amclnode.cpp' and 'cfg/AMCL.cf' Then cd catkinws and type in: catkin_make

But I didn't see any improvement, so is there any other places that I need to change the parameters?

Thank you!

Asked by jackalbaby on 2020-03-05 15:10:54 UTC

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Answers

amcl_pose is only published on a filter update. It is not published on a regular basis if, for instance, you stop moving since AMCL updates based on a time, distance, or rotational distance metric.

You should be using TF for the current positioning information, not amcl_pose. You could, as you suggest, lower the update minimum distance, time, or angle, but that will substantially impact your localization quality and behavior, so you should not do that casually.

Asked by stevemacenski on 2020-03-05 16:51:03 UTC