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Initial pose in amcl

asked 2013-10-28 19:39:24 -0500

FuerteNewbie gravatar image

updated 2013-11-14 11:37:15 -0500

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?

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answered 2013-10-28 21:41:31 -0500

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.

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

FuerteNewbie gravatar image FuerteNewbie  ( 2013-10-28 23:04:43 -0500 )edit

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

Tirjen gravatar image Tirjen  ( 2013-10-28 23:25:08 -0500 )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 -0500 )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 -0500 )edit

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Asked: 2013-10-28 19:39:24 -0500

Seen: 2,920 times

Last updated: Oct 28 '13