turtlebot amcl demo -- rviz 'amcl particles'

asked 2014-03-01 05:26:17 -0600

david.c.liebman gravatar image

updated 2014-03-01 05:27:21 -0600

I'm launching the turtlebot amcl demo after the gmapping demo (programmatically -- not to use the gmapping info for navigation, just because I don't want to restart ros) see this post:

http://answers.ros.org/question/13409...

I have edited my program so that it kills /camera/ nodes before switching demos, and this seems to work, but now my problem is, when looking at rviz, with the amcl demo I don't get enough 'amcl particles'. I think I should get hundreds and I'm getting less than ten. I think it must be a symptom of the problem. I can still (programmatically) set the starting position of the robot with controls in my program, but I cannot get the robot to follow through to the goal pose. As I say, I think it's the 'amcl particles' or something related. How can I increase these? What do they do, etc.?

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so I notice I have a whole bunch of amcl particles when I first start, and then the number goes down. Then I see a little blue line on the rviz screen. Is this the path that the robot proposes for me, or is it something else? And if this line suits the robot, how do I make it do it?

david.c.liebman gravatar image david.c.liebman  ( 2014-03-08 07:53:14 -0600 )edit
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