ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

AMCL does not subscribe

asked 2012-09-24 04:08:22 -0500

Antonio gravatar image

updated 2012-09-24 04:20:01 -0500

I'm trying to get robot pose estimation using gmapping in conjunction with amcl. Gmapping correctly builds the map using laser scans and I have tf, laser and map topic that publish messages. When I run amcl it does not publish the pose estimation and when I type rostopic info amcl_pose the node has no subscriber. How can I make the amcl node working?


edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2012-09-24 04:31:52 -0500

Lorenz gravatar image

updated 2012-09-24 04:32:04 -0500

You either use gmapping or amcl. Both do particle-filtering based localization. While gmapping also builds a map, amcl requires an already built map on the map server. You cannot use amcl and gmapping at the same time.

After you built a map using gmapping and saved it to a file, you need to stop gmapping, start the map server to provide your map and run amcl.

edit flag offensive delete link more

answered 2012-09-24 05:01:29 -0500

Antonio gravatar image

Thank you for the explanation, so the following question is how can I retrieve the estimated robot pose from gmapping? Which node gives me such information?


edit flag offensive delete link more


Please don't create answers for just discussing a topic or for subsequent answers. This site is different from forums. Instead, please edit your original question, use the comment functionality or open a new question for follow up questions.

Lorenz gravatar image Lorenz  ( 2012-09-24 05:41:51 -0500 )edit

To answer your question: the gmapping node publishes the estimated robot pose as a tf transform (odom -> base_link) per default. Have a look at the gmapping wiki page.

Lorenz gravatar image Lorenz  ( 2012-09-24 06:14:10 -0500 )edit

I'm sorry for the bad usage of the forum, I noticed only now the possibility of inserting comments. Thank you for the advice, so reading the tf publisher for odom->base_link transform gives me the estimated robot pose. Is there a way to visualize the estimated path in rviz?

Antonio gravatar image Antonio  ( 2012-09-24 09:18:15 -0500 )edit

Question Tools


Asked: 2012-09-24 04:08:22 -0500

Seen: 1,115 times

Last updated: Sep 24 '12