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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
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.
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
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?
Asked: 2012-09-24 04:08:22 -0500
Seen: 1,208 times
Last updated: Sep 24 '12
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