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Does gmapping require amcl?

asked 2022-08-05 06:17:46 -0500

pitosalas gravatar image

Intiuitively, I would have thought that while a map is being built with slam, that some localization would also be happening to ensure that as the map is extended this is based on the best estimate of the current loclation (and because of the L in SLAM). I ask because I was surprised to note that in the standar .launch files for creating slam maps (e.g. gmapping) amcl is not started. I started wondering: Is that some kind of mistake, doesn't gmapping require amcl?

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answered 2022-08-05 10:07:08 -0500

Alex-SSoM gravatar image

amcl is used for localisation only when your map server is publishing a static map. The gmapping algorithm does localisation as well as mapping simultaneously.

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Asked: 2022-08-05 06:17:46 -0500

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Last updated: Aug 05 '22