AMCL converges to wrong pose and is unable to recover
Hi, I am working with AMCL together with laser_scan_matcher (as odometry source) for my simulated laser-only based virtual robot. I have a prior map and want to do localization only, without updating...
View Articlerplidar A2 amcl parameters
I am using an rplidar A2 for mapping and for localization. I have two different platforms, one is a Raspberry Pi 3B+ and the other is an Intel NUC. Both are running ROS Kinetic. I am wondering if...
View ArticleConfused with amcl map to odom transform
I am using [amcl](http://wiki.ros.org/amcl) for localizing my robot in Gazebo in a known map. My robot has an IMU and a laser on it. I was going through the amcl docs and I noticed this. Published...
View ArticleIndoor localization with 2D lidar and IMU
I have a 3 wheeled differential drive robot (2 wheels + 1 castor) which has a 9 DOF IMU (3d acceleration, heading and angular velocities) and a 2D lidar (RPLidar). I have a pre-computed map. To...
View Articlerobot_localization with cartographer and amcl
I am using cartographer_ros along with amcl and an imu and wheel odometry for localization. Robot_localization seems ideal for this. I modified the sources for cartographer and amcl so that they...
View ArticleAMCL for (x,y) pose only
Hi, I would like to apply AMCL on my virtual robot which is a point mass. To the best of my understanding, the default implementation of AMCL has 3 state variables: x, y and yaw. Since my robot is a...
View ArticleAMCL warning: no laser scan received
Hello everyone. I'm having a problem. I acquired a RPLidar A2 recently and I'm trying to perform localization on a previously built map. I've built the map via Hector Map and saved it via map_server -...
View ArticleLaser scan doesn't match the map when use amcl?
when the robot rotates 180 degrees in place, for example,from 0 degree to 180 degree, but in reality it rotates about 160 degrees。However, according to the amcl pose ,the angle is 180 degrees, and the...
View Articleamcl: No laser scan received (and thus no pose updates have been published)...
Hello, I'm using ROS kinectic on ubuntu 16.04 on an HP laptop. I made my own "real/physical" 2WD robot, and now I want to use ROS navigation stack to get it to move around autonomously. I'm currently...
View ArticleAMCL estimates poses on occupied map cells
Hi, I'm running AMCL and getting that both amcl_pose and many among the particles are located on occupied cells in the map. Is there a way to tell AMCL not to do that? I think this will help for the...
View Articlenavigate to NEAREST goal pos (if goal pos is blocked)
Hello all, I am working on a project where my robot needs to navigate to the goal position (and it is easy and working fine). But sometimes the goal position may be blocked and there is a possibilty...
View ArticlePreventing large jumps in AMCL
When using AMCL, if some large obstacle (e.g. a trolley) passes close to my robot, interfering with the sensor data, AMCL tries to localise the robot and places it in vastly different location (often...
View Articlehector_slam: how to load a saved map (and perform localization)
Hi, I read the tutorial about creating a new map with hector_slam and save it. My question now is: how to load a saved map and use it for localization? (thus substituting amcl) Thanks
View ArticleRandom position in AMCL with robot_localization
Hello, I have a problem in using AMCL package , The output position is totally random. When feeding the /initial_pose topic with current output of robot localization , the car is on the right position...
View ArticleCan Turtlebot walk through an occupied grid in given map which is free in...
I wonder is that possible for Turtlebot can do this: I gave it a map which is opened with RVIZ; after running amcl and 2D pose estimate, everything is precise. Now if I control the robot to move as I...
View ArticleHow can I localize without any sensors on robot?
I have been successfully using the amcl package with laser sensors and learnt few things that it listens to rviz initialpose topic and publishes the position and orientation of the robot relative to...
View ArticleHow to check if there is problem in odometry?
Hi, I am moving a robot from point A to point B using ROS navigation packages. I found the strange thing that, after few iterations the there is the difference between actual map and laser map, the...
View ArticleHow to verify odom --> base_link is accurate or not？
I'm using AMCL and when I specify a goal to navigation, the pose of my robot drift.While AMCL need `odom --> base_link` tf and laserscan data,so how can I verify `odom --> base_link` is accurate...
View ArticleFiducials in conjuction with AMCL
I'm having some trouble getting fiducials (using [aruco_detect](http://wiki.ros.org/aruco_detect)) to work alongside [amcl](http://wiki.ros.org/amcl). The goal here is to use normal amcl localization...
View Article[noobie] Need help with custom mobile robot navigation (multiple questions)
Good evening guys, (questions on the bottom) I'm a Robotics student working on my senior design and REALLY NEED SOME HELP. The idea of the project is that we will build our own environment. Then build...
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