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I want to move the robot in the direction of amcl_pose

asked 2022-11-24 01:17:40 -0500

jun_seok
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updated 2023-06-18 10:24:03 -0500

lucasw

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If i give the robot the forward command in cmd_vel, it will move in the direction of the odom, not in the direction of the current angle (amcl_pose).

Red (odom) orientation

Yellow (base_footprint) orientation

This problem is suspected of finding the robot's location with a prior probability, not a posterior probability.

I wonder if anyone has experienced this problem.

https://blog.naver.com/gsu04295/22293...

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answered 2022-11-24 10:48:59 -0500

Mike Scheutzow
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updated 2022-11-24 10:58:03 -0500

cmd_vel is specified in the base_link frame, so you will need to determine the yaw difference between amcl_pose and base_link pose in the map frame.

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hi thank you for answer It seems that localization is not working. It rotates on the keyboard for 0-12 seconds and appears to be localized after checking localization and amcl_pose.

When i send a forward command with the keyboard for 14 to 22 seconds, it will forward the odometry coordinates.

22 seconds later is when i kick the cart.

If you look at the results, localization is not working.

What kind of modifications should I don't know

Currently, only LiDAR and motor are used without IMU.

The video is located at the following link : https://blog.naver.com/gsu04295/22293...

jun_seok ( 2022-11-24 19:51:55 -0500 )edit

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Asked: 2022-11-24 01:17:40 -0500

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Last updated: Nov 24 '22

I want to move the robot in the direction of amcl_pose edit

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I want to move the robot in the direction of amcl_pose