I appreciate your help. I attached the file to check my tf and nodes. http://isnl.kaist.ac.kr/jwL/capture/frames.pdf http://isnl.kaist.ac.kr/jwL/capture/screen_shot.png 1) You'll need an odometry source that publishes information to tf I already published odometry and tf information. please see my frames.pdf file. 2) You need a node for a laser that publishes information on the "scan" topic In my case, "rosrun hokuyo_node hokuyo_node scan:=base_scan" 3) You need a map_server node that gives AMCL a map to localize against In my case, I ran the following commands "rosrun gmapping slam_gmapping scan:=base_scan" "rosrun map_server map_saver" Lastly, I ran "rosrun amcl amcl scan:=base_scan", but there is only warning message repeatedly. The warning message is "Request for map failed; trying again...". I appreciate your help in advance. 2010/12/23 Eitan Marder-Eppstein > Eunchul, > > In order for AMCL to work properly, there are a few requirements: > > 1) You'll need an odometry source that publishes information to tf > 2) You need a node for a laser that publishes information on the "scan" > topic > 3) You need a map_server node that gives AMCL a map to localize against > > The following tutorial describes how to set much of this up. If you just > want AMCL you'll only want to do the Transform Configuration, Odometry > Information, Sensor Information, and Mapping parts of the tutorial. > > http://www.ros.org/wiki/navigation/Tutorials/RobotSetup > > Hope all is well, > > Eitan > > On Tue, Dec 21, 2010 at 8:49 PM, eunchul Jeon wrote: > >> I appreciate your response. >> >> I saw the scan node in wiki page but there is no scan node in my source. >> I also checked with this command "rosnode info /amcl" but there is only >> subscription for tf node. >> Attached file is screen-shot of that. >> >> Thank you. >> >> 2010/12/22 Tully Foote >> >> Hi Eunchul, >>> >>> I expect you'll see /scan dangling if you check the All Topics box. >>> >>> For a better view of what a node is doing I suggest "rosnode info /amcl" >>> Also ROS APIs are documented on the wiki like this >>> http://www.ros.org/wiki/amcl#Nodes >>> >>> Tully >>> >>> On Tue, Dec 21, 2010 at 6:19 PM, eunchul Jeon wrote: >>> >>>> Hi, I'm Eunchul Jeon In South Korea. >>>> >>>> I want to use amcl package but, there is no subscription for laser scan >>>> Attached file is a rxgraph capture image. >>>> >>>> I received source file in following svn repository and compiled >>>> successfully. >>>> svn https://code.ros.org/svn/ros-pkg/stacks/navigation/trunk/amcl >>>> >>>> I appreciate in advance your help. >>>> >>>> -- >>>> ================================================ >>>> Eunchul Jeon >>>> >>>> M.S. Student, Intelligent Systems and Neurobotics lab, >>>> Dept. Computer Science, KAIST >>>> Science town, Daejeon, 305-701, South Korea >>>> TEL: 82 42 350 3580 >>>> E-mail: jsharp@kaist.ac.kr, jsharp83@gmail.com >>>> Homepage: http://isnl.kaist.ac.kr >>>> ================================================ >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> >>> >>> >>> -- >>> Tully Foote >>> Systems Engineer >>> Willow Garage, Inc. >>> tfoote@willowgarage.com >>> (650) 475-2827 >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >> >> >> -- >> ================================================ >> Eunchul Jeon >> >> M.S. Student, Intelligent Systems and Neurobotics lab, >> Dept. Computer Science, KAIST >> Science town, Daejeon, 305-701, South Korea >> TEL: 82 42 350 3580 >> E-mail: jsharp@kaist.ac.kr, jsharp83@gmail.com >> Homepage: http://isnl.kaist.ac.kr >> ================================================ >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- ================================================ Eunchul Jeon M.S. Student, Intelligent Systems and Neurobotics lab, Dept. Computer Science, KAIST Science town, Daejeon, 305-701, South Korea TEL: 82 42 350 3580 E-mail: jsharp@kaist.ac.kr, jsharp83@gmail.com Homepage: http://isnl.kaist.ac.kr ================================================