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amcl basic localization

asked 2013-06-26 05:42:28 -0600

acp gravatar image

Dear all.

I am having problems to localize the robot using the topics from amcl

amcl_pose (geometry_msgs/PoseWithCovarianceStamped)

tf (tf/tfMessage)

Can anyone advise me how to do it.

In advance thank you

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answered 2013-06-27 01:15:13 -0600

ZdenekM gravatar image

You don't need to deal directly with TF topic... Just define point (geometry_msgs/PoseStamped, with x/y/z equal to zero) in robot coordinate system (frame_id="/base_link") and transform it to map coordinate system ("/map"). Then you will get robot position/orientation in map. If you don't know how to transform point, please read some TF tutorials.

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Hi, thank you for your answer :) it looks good :), Actually I got the position from amcl_pose topic but I will try the way you suggest. Cheers

acp gravatar imageacp ( 2013-06-27 02:08:17 -0600 )edit

Yeah, it's much better to use described TF-based method because it doesn't depend on some specific topic. It will work also with different localization code which provides transformation between map and robot (like gmapping etc).

ZdenekM gravatar imageZdenekM ( 2013-06-27 02:12:16 -0600 )edit

Yea, thats right, I have implemented as you suggested :) thanx :)

acp gravatar imageacp ( 2013-06-27 02:34:26 -0600 )edit

Ok... Please mark my answer as correct. Thanks.

ZdenekM gravatar imageZdenekM ( 2013-06-27 02:35:33 -0600 )edit

I believe this is the correct answer.

Gazer gravatar imageGazer ( 2013-06-28 12:03:35 -0600 )edit

answered 2013-12-16 14:25:10 -0600

FuerteNewbie gravatar image

Do you mind to share how do you do by using tf to get the amcl_pose?

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Did you check TF tutorials? What is not clear?

ZdenekM gravatar imageZdenekM ( 2013-12-16 19:18:39 -0600 )edit

Btw, next time please post a new question as a new question and not as an answer :) Thanks!

ZdenekM gravatar imageZdenekM ( 2013-12-16 19:19:25 -0600 )edit

answered 2013-06-26 13:27:15 -0600

Gav gravatar image

The wiki page for AMCL gives a good start:

You'll need to provide: - 'scan', your laser scan - 'tf' - transform topic which amongst other things should show the relationship between the robot base and laser. And also the robot odometry. - 'map' - the topic to query to get the map. Use the map server to load a map you've saved already.

If those topics are in place, you should be able to get started by just typing: rosrun amcl amcl in a console.

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Hi, thank you for your answer, I am running already amcl with the navigation stack, I need to use either amcl_pose or tf topics to get the actual position of the robot in my code.

acp gravatar imageacp ( 2013-06-26 20:56:37 -0600 )edit

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Asked: 2013-06-26 05:42:28 -0600

Seen: 1,476 times

Last updated: Dec 16 '13