Problem with amcl - need some help!

amcl
groovy

asked 2014-02-22 22:14:30 -0600

seredin
35 ●16 ●20 ●22

updated 2014-02-22 22:15:57 -0600

Hello all!

I have a problem with amcl. My URDF model has a joints. When I launch amcl, it don't work. My robot can't find location himself, it start random driving and can't see obstacles. At that moment i don't have error message. This is my main launch file:

<launch>

    <param name="robot_description" command="$(find xacro)/xacro.py '$(find tod_description)/urdf/bot_arm.urdf.xacro'" />


   <node name="arduino" pkg="ros_arduino_python" type="arduino_node.py" output="screen">
      <rosparam file="$(find ros_arduino_python)/config/my_arduino_params.yaml" command="load" />
     <!-- <param name="arduino/odom_angular_scale_correction" value="1.25"/> -->
   </node>


  <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
      <rosparam file="$(find bot_bringup)/config/bot_arbotix.yaml" command="load" />
      <param name="sim" value="false"/>
  </node>  

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
      <param name="publish_frequency" type="double" value="20.0" />
  </node> 

</launch>

When launch amcl and my urdf model don't have joints, all it work perfect.

What is wrong? How i can fix it?

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where do you start amcl, and is your laser scanner working correct ?

pkohout ( 2014-02-25 21:23:38 -0600 )edit

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answered 2014-03-13 08:06:28 -0600

Ken_in_JAPAN

894 ●32 ●42 ●46

I don't know if my answer matches your question. When I launched amcl with turtlebot2 model, I remembered that I had similar problem. I mean that URDF model is complete, but amcl can't parse URDF model. So, I described the following to solve my problem.

arg name="urdf_file" default="$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro"/
param name="robot_description" command="$(find xacro)/xacro.py '$(arg urdf_file)' use_full_gazebo_model:=$(arg use_full_gazebo_model)" /

As you know, arg and param needs blacket <>. I'm not familiar with how to write on web site.

I hope you can solve the problem.

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Problem with amcl - need some help!

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