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robot localization with amcl

asked 2020-08-30 11:38:11 -0500

dinesh gravatar image

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?

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answered 2020-08-31 00:52:03 -0500

dinesh gravatar image

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
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answered 2020-08-30 17:50:14 -0500

fergs gravatar image

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

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Asked: 2020-08-30 11:38:11 -0500

Seen: 308 times

Last updated: Aug 31 '20