2010/12/23 Eitan Marder-Eppstein <eitan@willowgarage.com>

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 <jsharp83@gmail.com> 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 <eitan@willowgarage.com>

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 <jsharp83@gmail.com> 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 <tfoote@willowgarage.com>

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 <jsharp83@gmail.com> 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
================================================

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--
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827

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ros-users mailing list
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--
================================================
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