Hi Brain, I am still not able to get AMCL working efficiently. Though I was able to solve some of the issues. - In the previous world file. The Pose was set to [ 0 0 0 ] floorplan > > ( > > ??name "willow" > > ??bitmap "cave.pgm" > > ??size3 [54.0 58.7 0.5] > > ??pose [0 0 0] > > ) Hence my map would was in 2,3,4th quadrant also. But the player map.h macro wants the points to be only in the 1st quadrant. And I guess hence the AMCL driver also requires the MAP to be in the first quadrant starting from [0 0 0]. This did help. - Next consideration was the resolution parameter in the map.yaml file. I set it to 22.4/ 500 rather than (22.4 * 22.4) / ( 500 * 500 ).In the second case the amcl would not work for me. I have used the AMCL driver in Player. It gives very accurate calculated location for the same map and smaller resolution for Laser Scanner. So I guess there is still something wrong that I am doing. The files are as follows. MCL.World file: define block model ( size3 [0.5 0.5 0.5] gui_nose 0 ) define topurg laser ( range_min 0.0 range_max 15.0 fov 240 samples 1024 # generic model properties color "black" size [ 0.05 0.05 0.1 ] ) define erratic position ( #size3 [0.415 0.392 0.25] size3 [0.35 0.35 0.25] origin3 [-0.05 0 0 0] gui_nose 1 drive "diff" topurg(pose [0.050 0.000 0.000]) ) define floorplan model ( # sombre, sensible, artistic color "gray30" # most maps will need a bounding box boundary 0 gui_nose 0 gui_grid 0 gui_movemask 0 gui_outline 0 gripper_return 0 fiducial_return 0 laser_return 1 ) # set the resolution of the underlying raytrace model in meters resolution 0.02 interval_sim 1 # simulation timestep in milliseconds interval_real 1 # real-time interval between simulation updates in milliseconds window ( size [ 675.0 745.0 ] center [678.990 293.960] rotate [ 0.000 0 ] scale 28.806 ) # load an environment bitmap floorplan ( name "willow" bitmap "cave.pgm" size3 [22.36067 22.36067 0.5] #pose [0 0 0] pose [11.2 11.2 0] ) # throw in a robot erratic( pose [0 0 0.000] name "era" color "blue") block( pose [-13.924 25.020 0.000] color "red") ####################################################################################################### map.yaml file : image: cave.pgm resolution: 0.0448 origin: [0.0, 0.0, 0.0] occupied_thresh: 0.40 free_thresh: 0.05 negate: 0 ########################################################### node file : #include #include #include #include #include #include "geometry_msgs/Twist.h" #include #include "nav_msgs/GetMap.h" #include "geometry_msgs/PoseWithCovarianceStamped.h" #include "geometry_msgs/PoseArray.h" #include #include #include #include "map/map.h" // To Include all Map Functions. #include "map/map.c" #include "map/map_range.c" //#include "map/map_store.c" #include "map/map_draw.c" int main(int argc, char** argv) { geometry_msgs::Twist cmd; geometry_msgs::Twist Pose_Array[100]; char ch; int i; float rand,x; double range; ros::init(argc, argv, "talker"); ros::NodeHandle n; map_t* map = map_alloc(); ros::Rate loop_rate(5); cmd.linear.x = 0.5; cmd.linear.y = 0; cmd.angular.z = 0; ros::Publisher vel_pub_; vel_pub_ = n.advertise("cmd_vel", 1); while (ros::ok()) { vel_pub_.publish(cmd); } } I have attached the image file. Thank you for the help. Regards, Suraj Swami _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -------------- next part -------------- > An HTML attachment was scrubbed... > URL: /discuss/ros-users/attachments/20100623/ebd7971a/attachment-0001.htm > > ------------------------------ > > Message: 11 > Date: Wed, 23 Jun 2010 19:45:37 -0700 > From: Brian Gerkey > Subject: Re: [ros-users] AMCL, Map Server, Stage World file > To: ros-users@code.ros.org > Message-ID: > > Content-Type: text/plain; charset="iso-8859-1" > > Send me your world and launch files and I'll try to reproduce the problem. > > brian. > > On Jun 21, 2010 2:45 PM, "Suraj Swami" wrote: > > Hi Brain, > > I am still not able to get amcl working. I changed the resolution in stage > world file and in the map.yamp file . > > > # load an environment bitmap > floorplan > ( > name "willow" > bitmap "cave.pgm" > size3 [22.36067 22.36067 0.5] # Its at 500 * 500 pixel image. > pose [0 0 0] > ) > > image: cave.pgm > resolution: 0.002 > origin: [0.0, 0.0, 0.0] > occupied_thresh: 0.65 > free_thresh: 0.196 > negate: 0 > > I do not get right location. Do I need to take care of anything else. > > Thanks for the help. > > -Suraj. > > > > hi Suraj, > > > > You probably have the resolution set incorrectly, but understandably > > so, in map.yaml. In the stage .world file, 'resolution' determines > > the resolution of the underlying grid that's used for simulation. The > > resolution of a bitmap that you load (for example, to be used as a > > background map), is determined by the combination of the bitmap's size > > in pixels, and the size that you specify for the bitmap. > > > > In this case, you're using cave.pgm, which I assume was created from > > Stage's cave.png, which is 500x500 pixels. Given the size you're > > setting, 54.0x58.7, the map resolution is about 0.11 m/pixel. That's > > the value you want to put in map.yaml. > > > > Now, why would a square bitmap be given a different size in X and Y? > > Depending on the version of Stage you're using, the map boundaries > > might be determined by the farthest-out black pixels, as opposed to > > the actual image boundaries. The slightly different values you're > > using might be an attempt to account for the non-square scaling that > > can result. There's a ticket for that: > > https://code.ros.org/trac/ros-pkg/ticket/4133 . > > > > brian. > > > > On Thu, Jun 10, 2010 at 11:42 PM, Suraj Swami > > wrote: > > > Hi, > > > I am trying to get understand how to use the AMCL package. I am using > > > simulator stage. And have written a ?small node to make the robot move > in > > > the map. But I am not getting right amcl_pose values. > > > I am not sure if my map_server and stage are well synchronized to have > > the > > > map data, resolution and origin. > > > FILE: map.yaml > > > image: cave.pgm > > > resolution: 0.02 > > > origin: [0.0, 0.0, 0.0] > > > occupied_thresh: 0.65 > > > free_thresh: 0.196 > > > negate: 0 > > > > > > FILE: MCL.world > > > define block model > > > ( > > > ??size3 [0.5 0.5 0.5] > > > ??gui_nose 0 > > > ) > > > define topurg laser > > > ( > > > ??range_min 0.0 > > > ??range_max 30.0 > > > ??fov 360 > > > ??samples 720 > > > ??# generic model properties > > > ??color "black" > > > ??size [ 0.05 0.05 0.1 ] > > > ) > > > define erratic position > > > ( > > > ??#size3 [0.415 0.392 0.25] > > > ??size3 [0.35 0.35 0.25] > > > ??origin3 [-0.05 0 0 0] > > > ??gui_nose 1 > > > ??drive "diff" > > > ??topurg(pose [0.050 0.000 0.000]) > > > ) > > > define floorplan model > > > ( > > > ??# sombre, sensible, artistic > > > ??color "gray30" > > > ??# most maps will need a bounding box > > > ??boundary 0 > > > ??gui_nose 0 > > > ??gui_grid 0 > > > ??gui_movemask 0 > > > ??gui_outline 0 > > > ??gripper_return 0 > > > ??fiducial_return 0 > > > ??laser_return 1 > > > ) > > > # set the resolution of the underlying raytrace model in meters > > > resolution 0.02 > > > interval_sim 1 ?# simulation timestep in milliseconds > > > interval_real 1 ?# real-time interval between simulation updates in > > > milliseconds > > > window > > > ( > > > ??size [ 675.0 745.0 ] > > > ??center [678.990 293.960] > > > ??rotate [ 0.000 0 ] > > > ??scale 28.806 > > > ) > > > # load an environment bitmap > > > floorplan > > > ( > > > ??name "willow" > > > ??bitmap "cave.pgm" > > > ??size3 [54.0 58.7 0.5] > > > ??pose [0 0 0] > > > ) > > > > > > > > > # throw in a robot > > > erratic( pose [0 0 0.000] name "era" color "blue") > > > block( pose [-13.924 25.020 0.000] color "red") > > > > > > > > > Is there a problem to synchronize the two files or is there any other > > > parameters that I need to take care of ? > > > Thank you. > > > Regards, > > > Suraj Swami > > > > > > > > > > > > > > > _______________________________________________ > > > 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 > -------------- next part -------------- > An HTML attachment was scrubbed... > URL: /discuss/ros-users/attachments/20100623/5d853db0/attachment-0001.htm > > ------------------------------ > >