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2017-01-18 11:46:11 -0500 | commented answer | Localization SLAM how to do? The Problem is that the position of the car shown in rviz don't update, allthough the car is moving I aded the amcl_pose to the question |
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2017-01-17 16:21:51 -0500 | commented question | Localization SLAM how to do? I think I have to reconfigure my whole tf tree... But I don't get it :/ |
2017-01-17 15:28:09 -0500 | commented answer | Localization SLAM how to do? yeah the whole path planing is working, check my comments on top please |
2017-01-17 15:27:28 -0500 | commented answer | Localization SLAM how to do? please check my comment on top. You are right I deleted this tf, but the porblem is still alive :/ |
2017-01-17 15:26:32 -0500 | commented question | Localization SLAM how to do? So I set the init pose and I set a goal, then the Path the Robot should drive appears. the echo of cmd_vel contains good values. But if I start moving arround the LiDAR the ArrowCloud won't get smaler and also the polygon of the robot does not move |
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2017-01-16 13:25:01 -0500 | asked a question | Localization SLAM how to do? Hey guys, I try to develop an autonomous driving car. The problem is that I don't know how to localize the car on my SLAM map. I only use a LiDAR UTM-30LX LiDAR to navigate. I created successfully a SLAM map with hector mapping. Now I want to estimate a start point and a goal. I use the navigation stack with move base to navigate. As local planner I have implemented the teb_local_planner because of the Ackermann steering. I can estimate a start point and can set a goal. I also can forward my cmd_vel to the car with a steering angle and a speed info. But the position of the robot on the map in rviz don't change. Can you help me and tell me what I have to do? I can't start playing around to find a good config for the teb_local_planner like this :( Here is my launch file: My amcl_pose dont update, but the car is moving with the speed and angle from the first input :/ rostopic echo /amcl_pose header: seq: 0 stamp: frame_id: map pose: pose: covariance: [0.18227685925353398, 0.0027654181834790847, 0.0, 0.0, 0.0, 0.0, 0.0027654181834790847, 0.22445548719072939, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ... (more) |
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2016-11-18 07:27:11 -0500 | asked a question | teb_local_planner steering angle Hi Guys, I'm new in the ROS environment and this community, so first of all I want to say Hello to everyone of you. I want to setup an SLAM based autonomous car. The car should detect obstacle with the help of a Lidar sensor. I'am able to create a map of the environment and set an estimation point and a goal. For the navigation I use the navigation stack + the teb_local_planner. There I have some troubles with the MAP update because I have only a Pentium Processor in the notebook. But maybe I can fix this problem with bette configuraions. My problem as soon as I got a path I have to send the moving commands to my car. For that I have a raspberry pi on the car who will forward a steering angle and a speed value to my motor management. But I don't know in wich topic the teb_local_planner publish these topics. If you need more information tell what I have to publish to you. Many thanks and I look forward to your answers :) Best, Felix |