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Error during localization with AMCL

Hi,

I'm using the navigation stack and the Corobot. If I run the corobot with a velocity of 0.2 m/s everything works fine, but if I change my velocity to 0,4 m/s after some time the robot can't localize itself in the given map.
I think it should be a problem of the amcl node.
I'm using an IMU and a laser.

Here is my amcl.launch file

<launch>
    <!--group ns="corobot/amcl" -->
    <node pkg="amcl" type="amcl" name="amcl" output="screen" >
        <!-- Publish scans from best pose at a max of 10 Hz -->
        <param name="odom_model_type" value="diff"/>
        <param name="odom_alpha5" value="0.1"/>
        <param name="transform_tolerance" value="0.2" />
        <param name="gui_publish_rate" value="10.0"/>
        <param name="laser_max_beams" value="30"/>
        <param name="min_particles" value="200"/>
        <param name="max_particles" value="1000"/>
        <!--param name="min_particles" value="1500"/>
        <param name="max_particles" value="10000"/-->
        <param name="kld_err" value="0.05"/>
        <param name="kld_z" value="0.99"/>
        <!-- with imu -->   
        <param name="odom_alpha1" value="0.3"/>
        <param name="odom_alpha2" value="0.2"/>
        <param name="odom_alpha3" value="0.2"/>
        <param name="odom_alpha4" value="0.1"/>
        <!-- without imu
                <param name="odom_alpha1" value="0.3"/>
        <param name="odom_alpha2" value="0.2"/>
        <param name="odom_alpha3" value="0.2"/>
        <param name="odom_alpha4" value="0.1"/>
        -->

        <param name="laser_z_hit" value="0.5"/>
        <param name="laser_z_short" value="0.05"/>
        <param name="laser_z_max" value="0.05"/>
        <param name="laser_z_rand" value="0.5"/>
        <param name="laser_sigma_hit" value="0.2"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_model_type" value="likelihood_field"/>
        <!-- <param name="laser_model_type" value="beam"/> -->
        <param name="laser_likelihood_max_dist" value="2.0"/>
        <param name="update_min_d" value="0.2"/>
        <param name="update_min_a" value="0.5"/>
        <param name="odom_frame_id" value="odom"/>
        <param name="resample_interval" value="1"/>
        <param name="transform_tolerance" value="0.1"/>
        <param name="recovery_alpha_slow" value="0.0"/>
        <param name="recovery_alpha_fast" value="0.0"/>
        <param name="use_map_topic" value="true"/>
    </node>
    <!--/group-->
</launch>

Any help?
Thank you in advance

EDIT:

I added a bag file with /scan /tf /map and /odom. In the bag files is recorded an initial localization phase, 2/3 path planning that succeded in reaching the goal a path planning in wich the robot get lost. https://www.dropbox.com/s/n0ldecwckxms0wy/2013-04-29-12-15-11.bag.gz

Asked by camilla on 2013-04-29 02:45:11 UTC

Comments

Have you tried visualizing the particle cloud in rviz? What happens if amcl loses track of the current location? Why did you change some of the default parameters? Maybe you can record and post a bag file from when the problem is happening.

Asked by Ben_S on 2013-04-29 04:33:18 UTC

I changed the alpha parameter when I added the Imu

Asked by camilla on 2013-04-29 06:19:09 UTC

Maybe i'm blind, but i cant find the link to your bag file. :)

Asked by Ben_S on 2013-04-29 09:36:51 UTC

Oh! you are right...I tried again but it load the file then it didn't show it, I don't know how to add it

Asked by camilla on 2013-04-29 21:03:31 UTC

You can take it from dropbox with this link https://www.dropbox.com/s/n0ldecwckxms0wy/2013-04-29-12-15-11.bag.gz

Asked by camilla on 2013-04-29 21:08:10 UTC

Answers