Eunchul,<div><br></div><div>In order for AMCL to work properly, there are a few requirements:</div><div><br></div><div>1) You&#39;ll need an odometry source that publishes information to tf</div><div>2) You need a node for a laser that publishes information on the &quot;scan&quot; topic</div>
<div>3) You need a map_server node that gives AMCL a map to localize against</div><div><br></div><div>The following tutorial describes how to set much of this up. If you just want AMCL you&#39;ll only want to do the Transform Configuration, Odometry Information, Sensor Information, and Mapping parts of the tutorial.</div>
<div><br></div><div><meta http-equiv="content-type" content="text/html; charset=utf-8"><a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup</a></div><div>
<br></div><div>Hope all is well,</div><div><br></div><div>Eitan</div><div><br><div class="gmail_quote">On Tue, Dec 21, 2010 at 8:49 PM, eunchul Jeon <span dir="ltr">&lt;<a href="mailto:jsharp83@gmail.com">jsharp83@gmail.com</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">I appreciate your response.<br><br>I saw the scan node in wiki page but there is no scan node in my source.<br>I also checked with this command &quot;rosnode info /amcl&quot; but there is only subscription for tf node.<br>


Attached file is screen-shot of that.<br><br>Thank you.<br><br><div class="gmail_quote">2010/12/22 Tully Foote <span dir="ltr">&lt;<a href="mailto:tfoote@willowgarage.com" target="_blank">tfoote@willowgarage.com</a>&gt;</span><div>
<div></div><div class="h5"><br><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex">
Hi Eunchul, <br><br>I expect you&#39;ll see /scan dangling if you check the All Topics box. <br><br>For a better view of what a node is doing I suggest &quot;rosnode info /amcl&quot; Also ROS APIs are documented on the wiki like this <a href="http://www.ros.org/wiki/amcl#Nodes" target="_blank">http://www.ros.org/wiki/amcl#Nodes</a><br>



<br>Tully<br><br><div class="gmail_quote"><div><div></div><div>On Tue, Dec 21, 2010 at 6:19 PM, eunchul Jeon <span dir="ltr">&lt;<a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a>&gt;</span> wrote:<br>

</div></div><blockquote class="gmail_quote" style="margin:0pt 0pt 0pt 0.8ex;border-left:1px solid rgb(204, 204, 204);padding-left:1ex"><div><div></div><div>

Hi, I&#39;m Eunchul Jeon In South Korea.<br><br>I want to use amcl package but, there is no subscription for laser scan<br>Attached file is a rxgraph capture image.<br><br>I received source file in following svn repository and compiled successfully.<br>




svn <a href="https://code.ros.org/svn/ros-pkg/stacks/navigation/trunk/amcl" target="_blank">https://code.ros.org/svn/ros-pkg/stacks/navigation/trunk/amcl</a><br><br clear="all">I appreciate in advance your help.<br><br>-- <br>



================================================<br>
Eunchul Jeon<br><br>M.S. Student, Intelligent Systems and Neurobotics lab,<br>Dept. Computer Science, KAIST<br>Science town, Daejeon, 305-701, South Korea<br>TEL: 82 42 350 3580<br>E-mail: <a href="mailto:jsharp@kaist.ac.kr" target="_blank">jsharp@kaist.ac.kr</a>, <a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a><br>




Homepage: <a href="http://isnl.kaist.ac.kr" target="_blank">http://isnl.kaist.ac.kr</a><br>================================================<br>
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<br></blockquote></div><font color="#888888"><br><br clear="all"><br>-- <br>Tully Foote<br>Systems Engineer<br>Willow Garage, Inc.<br><a href="mailto:tfoote@willowgarage.com" target="_blank">tfoote@willowgarage.com</a><br>

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<br></blockquote></div></div></div><div><div></div><div class="h5"><br><br clear="all"><br>-- <br>================================================<br>Eunchul Jeon<br><br>M.S. Student, Intelligent Systems and Neurobotics lab,<br>
Dept. Computer Science, KAIST<br>Science town, Daejeon, 305-701, South Korea<br>
TEL: 82 42 350 3580<br>E-mail: <a href="mailto:jsharp@kaist.ac.kr" target="_blank">jsharp@kaist.ac.kr</a>, <a href="mailto:jsharp83@gmail.com" target="_blank">jsharp83@gmail.com</a><br>Homepage: <a href="http://isnl.kaist.ac.kr" target="_blank">http://isnl.kaist.ac.kr</a><br>

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