Feb 26, 2023 · When using ROS2 with Nav2, what function does AMCL and robot_localization serve? Do both of them estimate the robot position and publish the odom -> base_link transform? If yes, don't they confl...

Hi all, I have a mobile robot and I would like it to navigate in a room, I already have a map of the room. I am using wheel encoders for the odometry, robot_pose_ekf for fusing data from wheel encoders and IMU and to get the odom_combined -> base_footprint transformation. Then , I have amcl for localization and move_base is doing the planning.

Nov 20, 2021 · SLAM can analysis the environment and locating iteself. And AMCL can locate itself with saved map. What difference between the two locating method of SLAM and AMCL? Because SLAM can locate, the AMC...

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 which expects robot pose on /amcl_pose topic.

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 set the initial pose manually.

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.

Sep 21, 2015 · AMCL publishes a PoseWithCovarianceStamped where the covariance represents the spread within the entire filter. This tells you something about how confident the filter is about its estimate, but not directly how good the estimate is. If you want to know how good a particular pose is, you'll have to apply the sensor model to the pose. AMCL does this in amcl_laser.cpp. …

May 24, 2022 · AMCL wants to know where the robot is located in the map. That will be its initial position and from which it starts map->odom transform. You can do this by using RViz2 and choosing 2D Pose Estimate or by directly publishing on a topic called initial_pose or initial_position something like that. Check your topic list to find the exact topic and message …

Apr 13, 2016 · 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 create …

Nov 14, 2016 · Hi, I am a ROS beginner and this might seem like a silly doubt but I haven't found the solution on the forums yet. I have a robot which is localizing using AMCL. I wish to write a subscriber that can