Thanks, Eric
I remapped the topic /pose to /odom and the nodes p2os and move_base where
connected thereby, but still the particles wouldn't appear. No messages
where published by amcl in the /particlecloud topic.
Here are the two launchfiles used to run the nodes.
robot_conf.launch:
<launch>
<node pkg="hokuyo_node" type="hokuyo_node" name="laser" output="screen">
</node>
<node pkg="p2os_driver" type="p2os" name="p2os" output="screen">
<remap from="/pose" to="/odom"/>
</node>
<node pkg="pioneer_tf" type="pioneer_tf"
name="configuracion_de_transformada" output="screen">
</node>
</launch>
where "configuracion_de_transformada" is the tf from the base_link to the
laser
move_base.launch:
<launch>
<master auto="start"/>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find
mapas)/detalle_mapa_01.pgm 0.05"/>
Any reason you don't load up a map.yaml file here instead? I've not used map_server like this, so I'm not sure what the defaults are in this configuration.
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base"
output="screen">
<rosparam file="$(find bender_nav_p2os)/costmap_common_params.yaml"
command="load" ns="global_costmap" />
<rosparam file="$(find bender_nav_p2os)/costmap_common_params.yaml"
command="load" ns="local_costmap" />
<rosparam file="$(find bender_nav_p2os)/local_costmap_params.yaml"
command="load" />
<rosparam file="$(find bender_nav_p2os)/global_costmap_params.yaml"
command="load" />
<rosparam file="$(find bender_nav_p2os)/base_local_planner_params.yaml"
command="load" />
</node>
</launch>
So I launch the previous 2 launchfiles and then I run rviz.
Does AMCL output anything on /particlecloud if you just start moving the robot around without initializing it's position first? And /initialpose will not work quite as expected if the fixed frame in rviz is set to anything but /map. Make sure that the fixed frame in rviz is /map.
- Eric
all nodes are run in the way it is told in the tutorial
I would appreciate any further help
Thanks in advance,
Cristóbal
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