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AMCL doesn't need a static map?

asked 2012-10-14 13:51:02 -0600

moyashi gravatar image

updated 2012-10-14 13:56:34 -0600

Does AMCL work well without a static map?

I applied nav stack to my own robot and it apparently works well.
However, rxgraph shows that AMCL doesn't use static map served by map_server.
The map is used only by move_base.

I think that MCL (not AMCL) requires a static map and
AMCL is designed by improving MCL regarding a computational cost.

AMCL doesn't need it?

Thanks in advance.

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answered 2012-10-14 15:21:54 -0600

weiin gravatar image

The amcl package requires a map either by subscribing to the topic, or calling the service to get the map

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Thank you. I didn't know the parameter "use_static_map" and it can switch whether the static map is used or not.

moyashi gravatar image moyashi  ( 2013-01-29 14:15:35 -0600 )edit

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Asked: 2012-10-14 13:51:02 -0600

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Last updated: Oct 14 '12