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How to set particle cloud of AMCL localisation along the the y axis of base link ?

asked 2021-01-17 14:27:48 -0500

Suyashhchougule gravatar image

updated 2021-01-25 06:15:15 -0500

as you can see in tf img that wheels of my robot are along the y axis of my base link and while amcl dispersing particle cloud, it is by default dispersing along x direction. and it is not able to localise robot. (i.e. particles are spreading out instead of concentrating as robot moving) in initial particle cloud img it can be seen that all the particles are along the x axis of base link. (if I am right they should be along the y axis and that's why its not localising )

tf Image

iinitial particle cloud

particles spread randomly after moving

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answered 2021-05-31 11:48:40 -0500

Rayman gravatar image

updated 2021-05-31 11:49:03 -0500

ROS assumes certain things about the frames of the robot. You should make sure that it is correct:

  • the x axis of the base_link frame should point forward
  • the x axis of the laserscan also points forward

If your particles are spreading out, it probably means that the laserscan can't be matched to the map.

  • Make sure your initial position is good (visualize the scan message and check that it overlaps with the walls in the map)
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Asked: 2021-01-17 14:27:48 -0500

Seen: 299 times

Last updated: May 31 '21