[ros-users] scan in amcl

[eunchul Jeon]

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 at 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 at 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 at 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 at 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 at kaist.ac.kr, jsharp83 at gmail.com
>>>> Homepage: http://isnl.kaist.ac.kr
>>>> ================================================
>>>>
>>>> _______________________________________________
>>>> ros-users mailing list
>>>> ros-users at code.ros.org
>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>>>
>>>
>>>
>>> --
>>> Tully Foote
>>> Systems Engineer
>>> Willow Garage, Inc.
>>> tfoote at willowgarage.com
>>> (650) 475-2827
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at 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 at kaist.ac.kr, jsharp83 at gmail.com
>> Homepage: http://isnl.kaist.ac.kr
>> ================================================
>>
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>> ros-users mailing list
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>>
>>
>
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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 at kaist.ac.kr, jsharp83 at gmail.com
Homepage: http://isnl.kaist.ac.kr
================================================
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