2023年2月26日 · $\begingroup$ Yes - AMCL publishes map->odom - which is really only changed in two ways: 1) when you do initial localization (using a tool like RVIZ), it sets the initial transform 2) at each update, AMCL slowly corrects for drift in the underlying odometer, by aligning the laser scanner with the map $\endgroup$ –

2016年4月13日 · AMCL is a global localization algorithm in the sense that it fuses LIDAR scan matching with a source of odometry to provide an estimate of the robot's pose w.r.t a global map reference frame. It is common to use an EKF/UKF such as those implemented in the robot_localization package to fuse wheel odometry with an IMU (or other sensors) and ...

2021年11月20日 · SLAM and AMCL make very different assumptions about what data is available to the robot, and about how the system should handle areas of the map that are unknown. The accuracy of the robot global localization will be much better with AMCL IF you have given it an accurate map to work from. This is because SLAM maps built using location estimates ...

If I give output of AMCL and UWB to second instance of ekf_localization_node, it will give me the required transformation (map_frame -> odom_frame) and will publish the output odometry message on odometry/filtered topic but I am using move_base which expects robot pose on /amcl_pose topic.

I think there is some issue with amcl but I am not sure. I saved all the data in a bag file and ran it and made two videos for two different goal positions. In first two cases, the correct orientation should be pi/2 (south direction) and in the last case the robot should point right: Video - 1 Video - 2 Video - 3 The parameters for amcl is ...

According to ROS wiki: "amcl takes in a laser-based map, laser scans, and transform messages, and outputs pose estimates." "The Robot Pose EKF package is used to estimate the 3D pose...

First of all, you should tune the parameters using a bag file, since you can not do anything repeatable on a live system. Record the sensors and the odometry and watch what's happening in rviz playing the bag with amcl running. Closely look at what happens to your PoseArray and see where and how the robot gets lost.

Jumps are often caused by amcl, maybe run "rosrun tf tf_echo" on both transforms to see which transform is actually jumping. Comment by Bill5785 on 2017-03-11: @Humpelstilzchen I have make sure that its caused by amcl dismatch. I have uploaded a picture in my question. I dont know why amcl cannot match laser. Comment by Humpelstilzchen on 2017 ...

2017年12月8日 · The amcl_node initial the pose by using initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this); I was wondering where does this message pub ? And is there anything I should notice when I …

2011年8月2日 · Hello everyone, I'm trying to use the global localisation facilities of AMCL node (calling global_localization service), but every time I try to invoke it, AMCL stop working (publishing the corresponding transformation) and the CPU usage of the process jump up to 99~100%. Also, a similar problems occurs some times when AMCL is not well localised.