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Hi,

I would like to know why rviz is not showing the particle cloud for any of my robots. Below I have provided my navigation stack launch file and my amcl parameters yaml file. Everything works (e.g. navigating from a to b), except the amcl localization.

Thank you very much.

move_base_decentralised.launch:

<launch>

  <master auto="start"/>
  Run the map server  
    <node name="map_server" pkg="map_server" type="map_server" args="$(find lasmultigazebo4)/maps/my_map.yaml"/>
  <node pkg="lasmulticontrol4" type="fixed_tf_broadcaster.py" name="broadcaster_fixed" />

  <group ns="n_1">

   <node pkg="amcl" type="amcl" name="amcl">
    <rosparam file="$(find lasmultigazebo4)/config/amcl_params.yaml" command="load" />
    <remap from="scan" to="/n_1scan"/>
    <param name="odom_frame_id" value="n_1/odom" />
    <param name="global_frame_id" value="map" />
    <param name="base_frame_id" value="n_1base_footprint" />
    <param name="use_map_topic" value="true"/>
   </node>

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <rosparam file="$(find lasmultigazebo4)/config/robot1config/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find lasmultigazebo4)/config/robot1config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find lasmultigazebo4)/config/robot1config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find lasmultigazebo4)/config/robot1config/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find lasmultigazebo4)/config/robot1config/dwa_local_planner_params.yaml" command="load" />
    <!--<remap from="odom" to="n_1/odom"/>-->
    <remap from="cmd_vel" to="Ug_cmd_vel"/>
   </node>
  </group>

  <group ns="n_2">

   <node pkg="amcl" type="amcl" name="amcl">
    <rosparam file="$(find lasmultigazebo4)/config/amcl_params.yaml" command="load" />
    <remap from="scan" to="/n_2scan"/>
    <param name="odom_frame_id" value="n_2/odom" />
    <param name="global_frame_id" value="map" />
    <param name="base_frame_id" value="n_2base_footprint" />
    <param name="use_map_topic" value="true"/>
   </node>

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <rosparam file="$(find lasmultigazebo4)/config/robot2config/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find lasmultigazebo4)/config/robot2config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find lasmultigazebo4)/config/robot2config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find lasmultigazebo4)/config/robot2config/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find lasmultigazebo4)/config/robot2config/dwa_local_planner_params.yaml" command="load" />
    <!--<remap from="odom" to="n_1/odom"/>-->
    <remap from="cmd_vel" to="Ug_cmd_vel"/>
   </node>
  </group>

  <group ns="n_3">

   <node pkg="amcl" type="amcl" name="amcl">
    <rosparam file="$(find lasmultigazebo4)/config/amcl_params.yaml" command="load" />
    <remap from="scan" to="/n_3scan"/>
    <param name="odom_frame_id" value="n_3/odom" />
    <param name="global_frame_id" value="map" />
    <param name="base_frame_id" value="n_3base_footprint" />
    <param name="use_map_topic" value="true"/>
   </node>

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
    <rosparam file="$(find lasmultigazebo4)/config/robot3config/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find lasmultigazebo4)/config/robot3config/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find lasmultigazebo4)/config/robot3config/local_costmap_params.yaml" command="load" /> ...