[ros-users] AMCL, Map Server, Stage World file.

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