2019年11月19日 · According to rep-105, you have world -> map -> odom -> base_link, you get odom -> base_link from amcl and map -> odom from gmapping, so you cannot get rid of amcl, unless you provide some other source of odometry like robot_localization. Or use some lidar or camera Odometry method. And move_base requires odom to work in expected manner.

2012年11月5日 · The output of the EKF seems to be nice, and if it's relevant publishes the position in UTM's. The problems start when I use the AMCL for doing the localization on the map. When I run the AMCL, the particles cloud begins to diverge, and then the localization is very poor and the move_base package can't make the robot move very well.

2018年12月25日 · Verify that data is being published on the /scan topic. [ WARN] [1545651935.387829538]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information. when i check /scan with rostopic echo /scan i got these results

2021年10月5日 · To launch the example above, just place all files in the same folder and run the command (make sure that you have the amcl and map_server packages installed. I am using the 1.17.1 version of the navigation stack on ROS Noetic, Ubuntu 20.04): LAUNCH_DIR=`pwd` roslaunch launch_amcl.launch

2018年12月27日 · This code publishes the odometry between /base_link and /odom frame. AMCL can be configured to provide the transform between /odom and /map (/world or whatever the map frame is). In the above mentioned scenario the /base_link will not jump around with respect to the /odom frame anymore.

2012年12月6日 · My problem is: If i start amcl it is not publishing the transform from map->odom. I'm getting the warning "Waiting on transform from /base_link to /map to become available before running costmap, tf error:" So in my understanding amcl should provide the missing transform map->odom to finish the tf tree.

2021年6月15日 · Hi, I have a problem with amcl and I am unable to locate the root of it. When I am starting my problem and set the initial pose (2D Pose Estimate in rviz) the map matches the laser scan, so I guess the map->odom transformation is correct (odom -> base_footprint is 0 at this time, because I am not moving the robot) .

Hi, I have been struggling at tuning the amcl parameters. No matter how I tuned it the result is is not that ideal here. Below is my amcl config. I plotted the amcl poses into a path. Green is odom, red is amcl, blue is amcl_ekf. I understand that ekf has helped a lot in localising it but I would like to improve amcl too.

2021年2月4日 · My next step is use amcl to locate my robot on map but Amcl Particales dose not change at all, even though i move my robot around. Any body please help me about this situation. And sorry because my English. Detail of trouble: Robot: build from my self. Lidar: RPLIDAR A1, running on jetson nano. System: Ros Noetic on Ubutu 20.04.

2021年5月21日 · Shoudl AMCL attempt to respect/get hints from walls? Should i be able to set the current pose for amcl? How to handle the kinect camera's vertical movement while using amcl? Set the initial pose with rviz. Pointcloud_to_laserscan ranges angular min and max? How to set the dimensions of the initial pose array. amcl subscriber queue