Turtlebot AMCL help
Hello,
My primary objective is to construct a scenario where AMCL/navigation stack would be used for 2d path planning for a Turtlebot using simulation. I currently have the turtlebot simulator from ROS Hydro. If I run that, and then "rosrun amcl amcl" and "rosrun map_server map_server "my_previously_constructed_map".yaml", I can see the map, base_link, an empty /scan topic, etc. in rviz. Of course, I can only set the initial pose, nothing moves if I set a goal.
So I have a few questions, and I'd be thankful if I can get some clarifications:
- How would AMCL/nav stack work through the simulator (if it even does), because there is no valid laser scan data?
- Is there a way where I can just see the solution path (in rviz) from the navigation stack through this simulated setup I have? The robot does not even have to move. This is a question because I do not have access to the turtlebot hardware: and amcl_demo, which incorporates move_base, does not run when the robot is not connected.
- How should I go about, if I want to modify the path planning operation for the turtlebot? For instance, writing a custom code that feeds it a certain pattern of goals one by one, etc.
Thank you for your time. Sai
Assuming you are using Hydro sources.... I'm just now preparing a couple of demos on this: build a 2D map of a Gazebo's virtual world, and then use it to navigate the world. Hopefully today all will be commited on https://github.com/turtlebot/turtlebot_simulator. I'll then post a detailed answer.
Done. You can try gmapping_demo.launch and amcl_demo.launch. But I cannot update wiki tutorials now due to current migration.
Thank you! I'll give them a try.
Hi jorge, the demo files did work, and I was able to see the path. Is there some way to load a custom map into gazebo? Because I tried my map with amcl and move base; and the turtlebot just walked through obstacles: I assume it's because the fake /scan doesn't account for them?