AMCL is supposed to solve global localization problem, which means that the robot doesnt know its initial pose. I found this [answer](http://answers.ros.org/question/161491/amcl-the-purpose-of-initialpose-topic/ "answer") in this forum, but I did not understand it. Does it mean that I am providing it initial pose if its subscribing to it?
initialpose (geometry_msgs/PoseWithCovarianceStamped)
Mean and covariance with which to (re-)initialize the particle filter.
**EDIT** Alright, so apparently it is a violation of global localization problem. Thank you, Martin.
How does one avoid giving initial pose? I need to solve a global localization problem but this is cheating now if I say I use AMCL and provide everything robot needs.
↧