AMCL not update robot position

asked 2021-02-04 03:59:58 -0600

nmd
1 ●1 ●2 ●1

updated 2021-02-05 21:34:06 -0600

1908 ●1 ●171 ●24 https://twitter.com/miura

Hi everyone, i am new with ROS, i got a trouble that amcl not working like i expect. I was succesful to create a map, save the map and re open it. My next step is use amcl to locate my robot on map but Amcl Particales dose not change at all, even though i move my robot around. Any body please help me about this situation. And sorry because my English

Detail of trouble:

Robot: build from my self. Lidar: RPLIDAR A1, running on jetson nano
System: Ros Noetic on Ubutu 20.04.
Launch file: customize from turtlebot3_navigation.launch:

<launch> <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> <arg name="map_file" default="$(find turtlebot3_navigation)/maps/mymap.yaml"/> <arg name="open_rviz" default="true"/> <arg name="move_forward_only" default="false"/>

<include file="$(find turtlebot3_bringup)/launch/turtlebot3_remote.launch"> <arg name="model" value="$(arg model)"/> </include>

<node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>

<include file="$(find turtlebot3_navigation)/launch/amcl.launch"/>

<include file="$(find turtlebot3_navigation)/launch/move_base.launch"> <arg name="model" value="$(arg model)"/> <arg name="move_forward_only" value="$(arg move_forward_only)"/> </include>

<group if="$(arg open_rviz)"> <node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find turtlebot3_navigation)/rviz/turtlebot3_navigation.rviz"/> </group> <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0 0 0 0 0 0 map odom 50"/> <node pkg="tf" type="static_transform_publisher" name="odom_to_base_footprint" args="0 0 0 0 0 0 odom base_footprint 50"/> </launch>
My tf tree: map->odom->base_footprint->base_link->base_scan

answered 2021-02-05 06:22:29 -0600

miura

1908 ●1 ●171 ●24 https://twitter.com/miura

updated 2021-02-05 21:41:33 -0600

From the published information, I guess the cause is that the frame name of odometry is unmatched. amcl requires odom, not odom_base_footprint.

ref : http://wiki.ros.org/amcl#Parameters

Here is a link to https://github.com/ROBOTIS-GIT/turtle...

<param name="odom_frame_id"             value="odom"/>
<param name="base_frame_id"             value="base_footprint"/>

so base_link and base_footprint are also mismatched.

Therefore, you need to modify amcl.launch to align the above parameters with the current tf, or modify the tf.

Update:

Also tf related, but the frame_id of RPLIDAR seems to be laser_frame.

http://wiki.ros.org/rplidar#Parameters

The frame_id of RPLIDAR seems to be laser_frame, which is unmatched by base_scan. So, you may not be able to use the scanned result properly.

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Thank you Miura san. Sorry, that was my mistake, my tf tree was My tf tree: map->odom->base_footprint->base_link->base_scan. That was a typing mistake, i can not post picture cause i am new in this forum. Do you have any other guess. Thank you Dang