[ros-users] scan in amcl

Thu Dec 23 00:09:23 UTC 2010

Eunchul,

You need to run the map_server node in the map_server package to get the map
to amcl.

Typically, I'll build a map with slam_gmapping, save it, and then server it
with the map_server to run AMCL.

See: http://www.ros.org/wiki/map_server for details.

Hope this helps,

Eitan

On Wed, Dec 22, 2010 at 4:05 PM, eunchul Jeon <jsharp83 at gmail.com> wrote:

> 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
>>> ================================================
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
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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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>
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