amcl publish frequency map-> odom

asked 2014-09-05 08:28:44 -0600

alex920a
35 ●13 ●15 ●18

Hello! in my tf tree I have that between /map and /odom there's amcl that publish at 20Hz. How to increase this speed rate?

answered 2014-09-05 09:00:41 -0600

bvbdort

3034 ●32 ●43 ●58

It depends on rate of incoming laser messages.

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ok so where do I have to look? In the robot's urdf where is specified the laserscan? Or somewhere else?

alex920a ( 2014-09-05 09:12:28 -0600 )edit

its from your laser driver. or you can check your laser message frequency by using rostopic hz /lasertopicname

bvbdort ( 2014-09-05 10:42:24 -0600 )edit

ok perfect! I'll check ! thanks!

alex920a ( 2014-09-05 13:13:43 -0600 )edit

where do I have to modify in order to increase frequency? In the urdf file I have : <sick_laser_v0 name="laser" parent="base" ros_topic="scan" update_rate="30" min_angle="-0.97" max_angle="0.97" l_x="0.5" l_y="0.0" l_z="0.25" l_r="0.0" l_p="0.0" l_yaw="0.0"/> <gazebo reference="laser_link">

alex920a ( 2014-09-07 04:54:58 -0600 )edit

I guess you are using simulator, i have no idead about gazebo. try changing update_rate. are you getting 30hz for rostopic hz /lasertopicname

bvbdort ( 2014-09-07 06:36:18 -0600 )edit

Yes I'm using Gazebo. Still 20 hz after modifying update_rate to 30

alex920a ( 2014-09-07 17:14:46 -0600 )edit

Other comments?

alex920a ( 2014-09-09 06:00:23 -0600 )edit

may be you are not modifying right file. try modifying update rate in gazebo_ros_laser_controller plugin

bvbdort ( 2014-09-09 06:58:46 -0600 )edit

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