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How to distribute amcl's particles all over the map?

asked 2022-05-15 09:18:03 -0600

Kevin1719
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Hi, when you first launch Rviz with particle cloud, the particles is gathered around the robot model, I wonder how to make those particles distribute all over my map? Thanks in advance.

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answered 2022-05-15 11:35:43 -0600

Mike Scheutzow
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The amcl node provides a service named "global_localization". It is documented on the wiki page for the amcl node. You can call the service from code or from the terminal command line.

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Yes, this is exactly what I was looking for, thank you so much.

Kevin1719 ( 2022-05-15 20:50:42 -0600 )edit

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Asked: 2022-05-15 09:18:03 -0600

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Last updated: May 15 '22

How to distribute amcl's particles all over the map? edit

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How to distribute amcl's particles all over the map?