Now I successfully use it. I really appreciate your help. Have a good day. 2010/12/23 Eitan Marder-Eppstein > 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 >> >> > > _______________________________________________ > 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 ================================================