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robot localization with amcl

How to use robot localization package with pose stamped msg published by amcl? I saw that robot localization only subscribed to imu, sensor msgs and gpu and lidar also but how to fuse the pose calculated from lidar amcl packae?

Asked by dinesh on 2020-08-30 11:38:11 UTC

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Usually robot_localization is used to fuse the IMU and odometry data into an updated odometry message that is fed into AMCL.

Asked by fergs on 2020-08-30 17:50:14 UTC

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Ok. i looks like i was missing their documentation. And after detailed study of their documentation i saw that not just imu or odometry robot localizaton package also supports posewithcoveragestatmped, twist etc other ros topics. Here is what i added in my configuration file so that robot localizaton use the pose calculated by amcl also:

pose0: amcl_pose
pose0_config: [true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, false,
               false, false, false]
pose0_differential: true
pose0_relative: false
pose0_queue_size: 5
pose0_rejection_threshold: 2  # Note the difference in parameter name
pose0_nodelay: false

Asked by dinesh on 2020-08-31 00:52:03 UTC

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