ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Initial pose in amcl

asked 2013-10-28 19:39:24 -0600

FuerteNewbie gravatar image

updated 2013-11-14 11:37:15 -0600

tfoote gravatar image

Hi guys,

1) How do you guys set your initial pose if the origin of map is [0.000, 0.000, 0.000] ? Simply by estimation or there is a way to let us know the exact point we wanted?

2) Inside this yaml file(map info) there is this resolution, how does the resolution affect as it changes?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-10-28 21:41:31 -0600

Tirjen gravatar image

The simpler way to assign the initial pose to amcl is through rviz using the button '2D Pose Estimate'; this will publish the position on the /initialpose topic. Note that your fixed frame must be /map.

edit flag offensive delete link more


I want to fix an initial pose once i startup my system.

FuerteNewbie gravatar image FuerteNewbie  ( 2013-10-28 23:04:43 -0600 )edit

Maybe I didn't understand well the question... What do you mean?

Tirjen gravatar image Tirjen  ( 2013-10-28 23:25:08 -0600 )edit

How do you guys set an initial pose parameters? Simply guess the x y yaw value?

FuerteNewbie gravatar image FuerteNewbie  ( 2013-10-29 15:03:53 -0600 )edit

When I used amcl I always have done like this. Consider that even if the initial position is not precise, with amcl your robot can localize properly after moving it a little bit around.

Tirjen gravatar image Tirjen  ( 2013-10-29 21:37:26 -0600 )edit

Question Tools

1 follower


Asked: 2013-10-28 19:39:24 -0600

Seen: 3,280 times

Last updated: Oct 28 '13