Ask Your Question
0

How to change amcl_pose publish rate/frequency?

asked 2020-03-05 14:10:54 -0500

jackalbaby gravatar image

Hi, I am just starting to use AMCL package, and I noticed that the publishing rate is very low. https://answers.ros.org/question/2561... 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 update_min_d and update_min_a to negative values in 'src/amcl_node.cpp' and 'cfg/AMCL.cf' Then cd catkin_ws 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!

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
2

answered 2020-03-05 15:51:03 -0500

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.

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

2 followers

Stats

Asked: 2020-03-05 14:10:54 -0500

Seen: 4,207 times

Last updated: Mar 05 '20