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Hi , Here is what i have done auto-localization.Initialize your robot for the very first time only(from Rviz)

And then write a node that subscribes /amcl_pose and publishes /initial_pose and keep on saving the its updated file in a local .txt file

Now every next time you starts the program load these values from .txt file and publish it on /initial_pose. Once you get a rough estimation of your current location,do in-place rotation for 2 times,which will eventually improve the localization

Hi , Here is what i have done auto-localization.Initialize ,

Initialize your robot for the very first time only(from Rviz)

And then write Write a node that subscribes which take care of two things 1.Subscribes /amcl_poserobot_pose and publishes updates it in a local .txt file. So at any instant of time, you will have robot's current position saved in the local file. 2.Publish the value to /initial_pose and keep on saving one time when you execute the its updated file in a local .txt filenode (probably at the time of initialization of robot position)

Now every next time you starts So at any point even if the program load these values from .txt file and publish it robot's battery turn off or any issue happens, on /initial_pose. Once you get a rough estimation of your current location,do in-place rotation for 2 times,which relaunching the nodes again, the robot will eventually improve be spawned in the localizationlast known position

Hi ,

Initialize your robot for the very first time only(from Rviz)

Write a node which take care of two things things.

1.Subscribes /robot_pose and updates it in a local .txt file. So at any instant of time, you will have robot's current position saved in the local file. file.

2.Publish the value to /initial_pose one time when you execute the node (probably at the time of initialization of robot position)

So at any point even if the robot's battery turn off or any issue happens, on relaunching the nodes again, the robot will be spawned in the last known position

Note: It will work fine, in case if the robot is not moved manually, ie for robot kidnap problems this won't help