How to localise using AMCL with 2 laser scanners?

asked 2020-05-19 05:36:29 -0500

Py
501 ●74 ●92 ●105

updated 2020-05-19 05:37:03 -0500

I've been using AMCL for localisation successfully with one laser but my actual robot has 2 lasers so I'd like the node to benefit from both. Here's the AMCL bit of my launch file:

<node pkg="amcl" type="amcl" name="amcl" >
    <rosparam file="$(find my_package)/src/params/amcl_params.yaml" command="load" />
    <remap from="scan" to="/front_lidar_scan" />
</node>

Does anyone have any ideas on how to achieve this?

answered 2020-05-19 13:56:18 -0500

maxsvetlik

161 ●7 ●5 http://maxsvetlik.github.io

As far as I know AMCL will only accept one topic as input for laser readings. Thus, if you have two lidar sources from two different lasers, you'll need to merge them into a single topic and feed that topic as the input into AMCL. A little cumbersome, but possible with tools like ira_laser_tools which has a node to do this exact thing called laserscan_multi_merger.

edit flag offensive delete link

Comments

Thanks for the comment. The ira_laser_tools seem handy for this. My mapping is based on cartographer, which I've found to handle 2 lasers really nicely without additional tools.... I'm now wondering whether it's pure localisation functionality can completely replace the need for AMCL. The documentation here suggests that's possible but I'm nervous this will cause problems using move_base. I'm unsure whether there's any reason it would.

Py ( 2020-05-20 04:29:23 -0500 )edit

As long as cartographer's pure localization publishes the odom -> map transformation and can do so at regular intervals, I think move_base will be happy.

maxsvetlik ( 2020-05-20 08:55:08 -0500 )edit

Excellent, I'll keep my eye out for that!

Py ( 2020-05-26 03:04:21 -0500 )edit

add a comment

How to localise using AMCL with 2 laser scanners?

1 Answer

Comments

Question Tools

Stats

Related questions

How to localise using AMCL with 2 laser scanners? edit

1 Answer

Comments

Question Tools

Stats

Related questions

How to localise using AMCL with 2 laser scanners?