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You don't need to deal directly with TF topic... Just define point (geometry_msgs/PoseStamped, with x/y/z equal to zero) in robot coordinate system (frame_id="/base_link") and transform it to map coordinate system ("/map"). Then you will get robot position/orientation in map. If you don't know how to transform point, please read some TF tutorials.
Do you mind to share how do you do by using tf to get the amcl_pose?
The wiki page for AMCL gives a good start: http://www.ros.org/wiki/amcl
You'll need to provide: - 'scan', your laser scan - 'tf' - transform topic which amongst other things should show the relationship between the robot base and laser. And also the robot odometry. - 'map' - the topic to query to get the map. Use the map server to load a map you've saved already.
If those topics are in place, you should be able to get started by just typing: rosrun amcl amcl in a console.
Asked: 2013-06-26 05:42:28 -0600
Seen: 1,853 times
Last updated: Dec 16 '13
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