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amcl does not need odometry data?

asked 2013-11-05 19:38:35 -0500

maysamsh
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updated 2013-11-14 11:37:03 -0500

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

I'm reading amcl document on ROS Wiki. In its subscribed topics there is not odometry topic, why? It works only with laser?

**Subscribed Topics:**

scan (sensor_msgs/LaserScan)
tf (tf/tfMessage)
initialpose (geometry_msgs/PoseWithCovarianceStamped)
map (nav_msgs/OccupancyGrid)

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answered 2013-11-05 22:48:32 -0500

Ben_S

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amcl receives its odometry informations through the /odom -> /base_link transform. (Or whatever you have set as odom_frame_id and base_frame_id parameters)

This means that you need a node (typically your hardware abstraction) that accumulates odom information from your base-robot and publish the aggregated pose as a transform.

So no, laser only will not be sufficient.

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Asked: 2013-11-05 19:38:35 -0500

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Last updated: Nov 05 '13

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amcl does not need odometry data?