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How to change amcl_pose publish rate/frequency?

amcl
kinetic

asked 2020-03-05 14:10:54 -0600

jackalbaby
1 ●1 ●1 ●1

Hi, I am just starting to use AMCL package, and I noticed that the publishing rate is very low. https://answers.ros.org/question/2561... I tried to adjust the parameters according to this post, and the following are the changes I made to the parameters in the package:

Changed the parameters update_min_d and update_min_a to negative values in 'src/amcl_node.cpp' and 'cfg/AMCL.cf' Then cd catkin_ws and type in: catkin_make

But I didn't see any improvement, so is there any other places that I need to change the parameters?

Thank you!

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answered 2020-03-05 15:51:03 -0600

stevemacenski

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amcl_pose is only published on a filter update. It is not published on a regular basis if, for instance, you stop moving since AMCL updates based on a time, distance, or rotational distance metric.

You should be using TF for the current positioning information, not amcl_pose. You could, as you suggest, lower the update minimum distance, time, or angle, but that will substantially impact your localization quality and behavior, so you should not do that casually.

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Asked: 2020-03-05 14:10:54 -0600

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