Eunchul, You need to run the map_server node in the map_server package to get the map to amcl. Typically, I'll build a map with slam_gmapping, save it, and then server it with the map_server to run AMCL. See: http://www.ros.org/wiki/map_server for details. Hope this helps, Eitan On Wed, Dec 22, 2010 at 4:05 PM, eunchul Jeon wrote: > 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 > ================================================ > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >