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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?

Thanks

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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.

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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?

Thanks

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Lorenz gravatar imageLorenz ( 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 imageLorenz ( 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 imageAntonio ( 2012-09-24 09:18:15 -0500 )edit

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

Seen: 666 times

Last updated: Sep 24 '12