How to call a Rosservice at startup?
For my project I want to actively localize a turtlebot in a given environment, however the initial pose of the turtlebot is not known. This suggests that I should make use of the rosservice /global_localization, calling this should give me a uniform random distribution of AMCL particles.
However I can't seem to find a proper way to initialize my AMCL node using the /global localization service. I've tried the process from the following answer: https://answers.ros.org/question/1127... But this does not work for me. Moreover I've also tried to call the global localization as a node called 'rosservice' like also suggested in one of the answers from the url above.
So how do I call this global localization rosservice properly at startup, so that my AMCL initializes with a global localization distribution?
It goes without saying that I am new to ROS and that I am quite the noob.
thing is, we cannot help you with such a meager description of what is going on.
If something doesn't appear to work, describe what you observe. It's likely there are errors messages or warnings printed on the (
roslaunch) console. If that's the case, copy paste them here into your post (do not post screenshots of terminals).If you're not seeing anything, make sure to add
--screento theroslaunchcommand line you're using. That will force all nodes to print to the screen (instead of only to a log).Thanks for your reply. This is my first question on the forum, so I will try to improve my formulation of my question in the future, thanks for the feedback!
Luckily, I already managed to find and fix the issue. What I think happened was that the \global_localization service was called too soon, likely to the extent that it was called before AMCL runs. So the AMCL node would not initialze with a uniform random distribution, but rather with a distribution around an initial pose. I managed to fix it, by writing a simple service client like in the ros tutorial. I use this as a seperate node and basically what it does is waiting for 1 second before actually calling the \global_localization service. By doing so I am able to initialize my AMCL with global localization instead of an initial pose.
Good to hear.
Please post that as an answer and answer your question.