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2017-01-02 08:48:04 -0500 asked a question How to change robots frame

Hi, My robot is symmetric, front and back are the same. The local planner rotates robot's nose to the next goal. I want it to change this behaviour and go backwards if it is more efficient. I tried to set minimum velocity to a negative value but it did not work.

2016-11-23 08:19:15 -0500 asked a question FlexBE does but does not connect

Hi, I am following the FlexBE tutorials. The problem is I never get the FlexBE app connection. Onboard Status is "disconnected". rosbridge, rosapi, flexbe_onboard are all running. Moreover, I see the message on rosbridge output "Client connected. 1 clients total." FlexBE console does not show any error. And "Connect" button on the Configuration screen is deactivated as if it is already connected. It seems some part of the program believes it is connected but others disagree.

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2016-11-07 05:09:51 -0500 commented answer how can i convert laser scan to point cloud with laser_geometry?

@bsk you can visualize it on rviz.

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2016-11-07 02:46:13 -0500 commented answer How do I use a map to reduce odometry errors? [SOLVED]

@krusion I think that will help: http://wiki.ros.org/rtabmap

2016-11-07 01:53:06 -0500 commented answer How to detect amcl localization mistake

I think this way does not solve the problem. Because when I use global_localization the estimation points are spread uniformly. Your answer handles the initial estimations.

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2016-11-04 11:46:49 -0500 asked a question How to detect amcl localization mistake

Hi, I want to localize my robot without the initial position is unknown. When I use amcl/global_localization service, the location found is usually incorrect. I want to detect this error and spread the points again until I found the correct spot. How can I do this?

Edit: To show what I am talking about; consider this image: image description

It is obvious that none of the rotation and position estimations matches with the laser scan. Estimation was good at first but it evolved to this (maybe i steer robot too fast). One possible solution came to my mind is to check this mismatch. I may take the PointCloud data from laser scan and do some image processing to match this data to map OccupancyGrid but I don't know how to do it (yet). I am also thinking to use this method to localize robot deterministically (then maybe publish under amcl initialpose topic).