On Tue, Nov 30, 2010 at 6:56 PM, shankerk <shankerkeshavdas@gmail.com> wrote:

Hi Eitan,

Changing the publish_frequency helped. I changed it from 0 to 5 and now I
can see the robot footprint. I then estimate the initialpose as demonstrated
in the rviz/navigation stack tutorial, but the Pose Array does not form.
Sometimes it forms for a second and it is gone again.

This is a little strange. Can you run something like tf_monitor (http://www.ros.org/wiki/tf#tf_monitor)�to see if amcl is actively publishing a transform?

�

Regarding amcl, I can see that it is subscribing to both /scan and /tf. When
you suggest getting localization up and running, do you mean just running,
the 'Laser, TF and odometry' nodes, the amcl node and the map node, and then
moving the robot via joystick? Or is there a separate tutorial for
localization? If so, I am unable to find it.

I mean running the laser, odometry, map_server, amcl, and joystick nodes. There's no separate tutorial on localization, but those nodes should be a subset of what you're running for navigation so, hopefully, its not too tough to put together. You can also just run everything you've been running, but move the robot with the joystick instead of attempting to give the navigation stack goals.

Hope this helps,

Eitan

�

Thanks again,

Shanker
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