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
>>>> ================================================
>>>>
>>>> _______________________________________________
>>>> ros-users mailing list
>>>> ros-users@code.ros.org
>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>>>
>>>
>>>
>>> --
>>> Tully Foote
>>> Systems Engineer
>>> Willow Garage, Inc.
>>> tfoote@willowgarage.com
>>> (650) 475-2827
>>>
>>> _______________________________________________
>>> 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
>
>
--
================================================
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
================================================
%20You'll%20need%20an%20odometry%20source%20that%20publishes%20information%20to%20tf%0A>%20I%20already%20published%20odometry%20and%20tf%20information.%0A>%20please%20see%20my%20frames.pdf%20file.%0A>%20%0A>%202)%20You%20need%20a%20node%20for%20a%20laser%20that%20publishes%20information%20on%20the%20%22scan%22%0A>%20topic%0A>%20In%20my%20case,%20%22rosrun%20hokuyo_node%20hokuyo_node%20scan:=base_scan%22%0A>%20%0A>%203)%20You%20need%20a%20map_server%20node%20that%20gives%20AMCL%20a%20map%20to%20localize%20against%0A>%20In%20my%20case,%20I%20ran%20the%20following%20commands%0A>%20%22rosrun%20gmapping%20slam_gmapping%20scan:=base_scan%22%0A>%20%22rosrun%20map_server%20map_saver%22%0A>%20%0A>%20Lastly,%20I%20ran%20%22rosrun%20amcl%20amcl%20scan:=base_scan%22,%20but%20there%20is%20only%20warning%0A>%20message%20repeatedly.%0A>%20The%20warning%20message%20is%20%22Request%20for%20map%20failed;%20trying%20again...%22.%0A>%20%0A>%20I%20appreciate%20your%20help%20in%20advance.%0A>%20%0A>%20%0A>%20%0A>%20%0A>%202010/12/23%20Eitan%20Marder-Eppstein%20<eitan@willowgarage.com>%0A>%20%0A>%20>%20Eunchul,%0A>%20>%0A>%20>%20In%20order%20for%20AMCL%20to%20work%20properly,%20there%20are%20a%20few%20requirements:%0A>%20>%0A>%20>%201)%20You'll%20need%20an%20odometry%20source%20that%20publishes%20information%20to%20tf%0A>%20>%202)%20You%20need%20a%20node%20for%20a%20laser%20that%20publishes%20information%20on%20the%20%22scan%22%0A>%20>%20topic%0A>%20>%203)%20You%20need%20a%20map_server%20node%20that%20gives%20AMCL%20a%20map%20to%20localize%20against%0A>%20>%0A>%20>%20The%20following%20tutorial%20describes%20how%20to%20set%20much%20of%20this%20up.%20If%20you%20just%0A>%20>%20want%20AMCL%20you'll%20only%20want%20to%20do%20the%20Transform%20Configuration,%20Odometry%0A>%20>%20Information,%20Sensor%20Information,%20and%20Mapping%20parts%20of%20the%20tutorial.%0A>%20>%0A>%20>%20http://www.ros.org/wiki/navigation/Tutorials/RobotSetup%0A>%20>%0A>%20>%20Hope%20all%20is%20well,%0A>%20>%0A>%20>%20Eitan%0A>%20>%0A>%20>%20On%20Tue,%20Dec%2021,%202010%20at%208:49%20PM,%20eunchul%20Jeon%20<jsharp83@gmail.com>%20wrote:%0A>%20>%0A>%20>>%20I%20appreciate%20your%20response.%0A>%20>>%0A>%20>>%20I%20saw%20the%20scan%20node%20in%20wiki%20page%20but%20there%20is%20no%20scan%20node%20in%20my%20source.%0A>%20>>%20I%20also%20checked%20with%20this%20command%20%22rosnode%20info%20/amcl%22%20but%20there%20is%20only%0A>%20>>%20subscription%20for%20tf%20node.%0A>%20>>%20Attached%20file%20is%20screen-shot%20of%20that.%0A>%20>>%0A>%20>>%20Thank%20you.%0A>%20>>%0A>%20>>%202010/12/22%20Tully%20Foote%20<tfoote@willowgarage.com>%0A>%20>>%0A>%20>>%20Hi%20Eunchul,%0A>%20>>>%0A>%20>>>%20I%20expect%20you'll%20see%20/scan%20dangling%20if%20you%20check%20the%20All%20Topics%20box.%0A>%20>>>%0A>%20>>>%20For%20a%20better%20view%20of%20what%20a%20node%20is%20doing%20I%20suggest%20%22rosnode%20info%20/amcl%22%0A>%20>>>%20Also%20ROS%20APIs%20are%20documented%20on%20the%20wiki%20like%20this%0A>%20>>>%20http://www.ros.org/wiki/amcl#Nodes%0A>%20>>>%0A>%20>>>%20Tully%0A>%20>>>%0A>%20>>>%20On%20Tue,%20Dec%2021,%202010%20at%206:19%20PM,%20eunchul%20Jeon%20<jsharp83@gmail.com>wrote:%0A>%20>>>%0A>%20>>>>%20Hi,%20I'm%20Eunchul%20Jeon%20In%20South%20Korea.%0A>%20>>>>%0A>%20>>>>%20I%20want%20to%20use%20amcl%20package%20but,%20there%20is%20no%20subscription%20for%20laser%20scan%0A>%20>>>>%20Attached%20file%20is%20a%20rxgraph%20capture%20image.%0A>%20>>>>%0A>%20>>>>%20I%20received%20source%20file%20in%20following%20svn%20repository%20and%20compiled%0A>%20>>>>%20successfully.%0A>%20>>>>%20svn%20https://code.ros.org/svn/ros-pkg/stacks/navigation/trunk/amcl%0A>%20>>>>%0A>%20>>>>%20I%20appreciate%20in%20advance%20your%20help.%0A>%20>>>>%0A>%20>>>>%20--%0A>%20>>>>%20================================================%0A>%20>>>>%20Eunchul%20Jeon%0A>%20>>>>%0A>%20>>>>%20M.S.%20Student,%20Intelligent%20Systems%20and%20Neurobotics%20lab,%0A>%20>>>>%20Dept.%20Computer%20Science,%20KAIST%0A>%20>>>>%20Science%20town,%20Daejeon,%20305-701,%20South%20Korea%0A>%20>>>>%20TEL:%2082%2042%20350%203580%0A>%20>>>>%20E-mail:%20jsharp@kaist.ac.kr,%20jsharp83@gmail.com%0A>%20>>>>%20Homepage:%20http://isnl.kaist.ac.kr%0A>%20>>>>%20================================================%0A>%20>>>>%0A>%20>>>>%20_______________________________________________%0A>%20>>>>%20ros-users%20mailing%20list%0A>%20>>>>%20ros-users@code.ros.org%0A>%20>>>>%20https://code.ros.org/mailman/listinfo/ros-users%0A>%20>>>>%0A>%20>>>>%0A>%20>>>%0A>%20>>>%0A>%20>>>%20--%0A>%20>>>%20Tully%20Foote%0A>%20>>>%20Systems%20Engineer%0A>%20>>>%20Willow%20Garage,%20Inc.%0A>%20>>>%20tfoote@willowgarage.com%0A>%20>>>%20(650)%20475-2827%0A>%20>>>%0A>%20>>>%20_______________________________________________%0A>%20>>>%20ros-users%20mailing%20list%0A>%20>>>%20ros-users@code.ros.org%0A>%20>>>%20https://code.ros.org/mailman/listinfo/ros-users%0A>%20>>>%0A>%20>>>%0A>%20>>%0A>%20>>%0A>%20>>%20--%0A>%20>>%20================================================%0A>%20>>%20Eunchul%20Jeon%0A>%20>>%0A>%20>>%20M.S.%20Student,%20Intelligent%20Systems%20and%20Neurobotics%20lab,%0A>%20>>%20Dept.%20Computer%20Science,%20KAIST%0A>%20>>%20Science%20town,%20Daejeon,%20305-701,%20South%20Korea%0A>%20>>%20TEL:%2082%2042%20350%203580%0A>%20>>%20E-mail:%20jsharp@kaist.ac.kr,%20jsharp83@gmail.com%0A>%20>>%20Homepage:%20http://isnl.kaist.ac.kr%0A>%20>>%20================================================%0A>%20>>%0A>%20>>%20_______________________________________________%0A>%20>>%20ros-users%20mailing%20list%0A>%20>>%20ros-users@code.ros.org%0A>%20>>%20https://code.ros.org/mailman/listinfo/ros-users%0A>%20>>%0A>%20>>%0A>%20>%0A>%20>%20_______________________________________________%0A>%20>%20ros-users%20mailing%20list%0A>%20>%20ros-users@code.ros.org%0A>%20>%20https://code.ros.org/mailman/listinfo/ros-users%0A>%20>%0A>%20>%0A>%20%0A>%20%0A>%20--%20%0A>%20================================================%0A>%20Eunchul%20Jeon%0A>%20%0A>%20M.S.%20Student,%20Intelligent%20Systems%20and%20Neurobotics%20lab,%0A>%20Dept.%20Computer%20Science,%20KAIST%0A>%20Science%20town,%20Daejeon,%20305-701,%20South%20Korea%0A>%20TEL:%2082%2042%20350%203580%0A>%20E-mail:%20jsharp@kaist.ac.kr,%20jsharp83@gmail.com%0A>%20Homepage:%20http://isnl.kaist.ac.kr%0A>%20================================================%0A>%20 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