Eitan,
Thanks for your prompt reply.
I also feel localization is not working well.
As you suggested, I tested AMCL with just a joystick, and observed in rviz
that the localization is not reasonable, i.e., the laser scan deviate a lot
from map.
More details about the testing:
Odom is used both fixed and target frames;
for AMCL, the example amcl_omni.launch file under navigation stack is used:
<!--- Run AMCL -->
<include
file="/opt/ros/boxturtle/stacks/navigation/amcl/examples/amcl_omni.launch"
/>
whose content is listed here:
<launch>
<node pkg="amcl" type="amcl" name="amcl">
<!-- Publish scans from best pose at a max of 10 Hz -->
<!-- translation std dev, m -->
<!-- -->
</node>
</launch>
--
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