amcl laser localization

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well, I do the following: I use rosrun map_server map_server map.yaml then in another console I use rosrun amcl amcl scan. Then the only topic I see in rviz under Pose is /move_base_simple/goal. I supposed to see amcl_pose topic under Pose, right?

According to the docs, amcl publishes the pose as geometry_msgs/PoseWithCovarianceStamped. But you can also add displays for the particlecloud (geometry_msgs/PoseArray) and tf. Through tf, amcl should publish the most likely transform between your map and odom.

well, i have 2 issues, 1.-how i can set the initial pose 2--why my map gets rotated after I have published it and visualized in rviz?

1) In rviz you should have a "2d pose estimate" button. 2) Depending on your fixed frame, the visualized map can rotate if the best guess by amcl changes. Try setting the fixed frame to /map in rviz.

Well, it seems to be as it everything is working, the only issue now is how to see the estimated poses produced by amcl in rviz? in other words, how can I see that amcl is working?

Add a display of type PoseArray to rviz, set the topic to /particlecloud and then drive around a little bit. You then should see all the pose-guesses of amcl as small arrows in rviz.

Well, it seems to be as PoseAarray is working under rviz, however, from the beginning the amcl algorithm spreads particles even outside the map. Is that normal? or is there a way to fix it?

Since amcl publishes the pose as geometry_msgs/PoseWithCovarianceStamped, how can I see the poses with covariance under rviz?