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The amcl_node initial the pose by using initial_pose_sub_ = nh_.subscribe("initialpose", 2, &AmclNode::initialPoseReceived, this); I was wondering where does this message pub ? And is there anything I should notice when I set the initial pose manually.
You can set the inital pose by publishing to this specific Topic, e.g. from rviz.
Obviously, the inital pose you send should be approximately at the correct Position. You could play around with the covariances to have a more spread or less spread particle cloud, if this benefits your use-case.
per https://stackoverflow.com/a/33887151/... - you can also
specify the initial pose estimate directly as startup parameters for amcl, see
initial_pose_xand other similar parameters. This is appropriate for example if you can fix these parameters in your launch file before starting the node.
e.g.
<arg name="initial_pose_x" value="-1.0"/> <arg name="initial_pose_y" value="10.0"/> <arg name="initial_pose_z" value="0.0"/>
Asked: 2017-12-08 07:23:04 -0600
Seen: 6,817 times
Last updated: Mar 27 '18
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