| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
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?
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
Usually robot_localization is used to fuse the IMU and odometry data into an updated odometry message that is fed into AMCL.
Asked: 2020-08-30 11:38:11 -0500
Seen: 532 times
Last updated: Aug 31 '20
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
