Trying to make amcl_demo.launch
Has anyone ever made a custom gmapping and amcl launch file? I'm tryng to figure out how to add my robot model and my laser scan to rviz, I'm using this packagehere. Or well, these sets of packages. I'm trying to change the amcl_demo.launch file so when rviz opens, it has the robot model and laserscan show up with no status errors. I've edited it like this:
<?xml version="1.0"?>
<launch>
<master auto="start"/>
<!-- Map server -->
<arg name="map_file" default="/home/philip/LDW1.yaml"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!-- Place map frame at odometry frame -->
<node pkg="tf" type="static_transform_publisher" name="map_odom_broadcaster"
args="0 0 0 0 0 0 map odom 100"/>
<!-- Localization -->
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<remap from="scan" to="mybot/laser/scan"/>
<param name="odom_frame_id" value="odom"/>
<param name="odom_model_type" value="diff-corrected"/>
<param name="base_frame_id" value="chassis"/>
<param name="update_min_d" value="0.5"/>
<param name="update_min_a" value="1.0"/>
</node>
<!--include file="$(find amcl)/examples/amcl_omni.launch"/-->
<!-- Move base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find mybot_navigation)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mybot_navigation)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find mybot_navigation)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find mybot_navigation)/config/global_costmap_params.yaml" command="load" />
<rosparam file="$(find mybot_navigation)/config/base_local_planner_params.yaml" command="load" />
<remap from="cmd_vel" to="cmd_vel"/>
<remap from="odom" to="odom"/>
<remap from="scan" to="mybot/laser/scan"/>
<param name="move_base/DWAPlannerROS/yaw_goal_tolerance" value="1.0"/>
<param name="move_base/DWAPlannerROS/xy_goal_tolerance" value="1.0"/>
</node>
<!-- rviz -->
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find mybot_description)/rviz/amcl.rviz"/>
</launch>
What does this file have missing that gives me status errors?
What is the question here?
@Ravi Joshi I updated the question
As far as I understand, the default amcl_demo.launch file is running without problems, but you wish to set up Rviz so it recognizes the laser_scan and the robot model, without adding both manually every time. Is that correct?
@Laschoking Are you using the link I put in my my question? As in you built the packages and are able to use the original amcl file with no problem?
Sorry, maybe I should have formulated my comment differently, I didn't understand what you wanted to archieve. You are trying to get the standard amcl_demo.launch file working, and take the robot_description & simulated laser_scan from https://github.com/PhilipAmadasun/myb... is that correct?
@Laschoking I cloned all the files from that list, one of those files is an amcl_demo file. it doesn't work, so I tried to modify it but don't know how to do so correctly.