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Check your rqt_graph and ensure that both your scan topic from the husky laser scanner, its odometry, the tf between the two, and map topic are published and that the amcl node is subscribing correctly. Additionally a properly working amcl should update the tf to include a relationship between odometry and map.
Also setup rviz so you can see the map, the transforms between the odometry and scanner, and the scan output are displayed correctly. RViz will help identify any problems with your configuration with handy colour coding of issues.
| | 2 | No.2 Revision |
Check your rqt_graph and ensure that both your scan topic from the husky laser scanner, its odometry, the tf between the two, and map topic are published and that the amcl node is subscribing correctly. Additionally a properly working amcl should update the tf to include a relationship between odometry and map.
Also setup rviz so you can see the map, the transforms between the odometry and scanner, and the scan output are displayed correctly. RViz will help identify any problems with your configuration with handy colour coding of issues.
If your map topic isn't being published, a simple fix is to save a couple of /map messages into a bag topic when using gmapping and getting a pretty good map, and simply play this when starting your amcl session. You only need one occupancy map message to be published as amcl can latch that or use the last map recieved.
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