[ros-users] scan in amcl

[eunchul Jeon]

Now I successfully use it.
I really appreciate your help.
Have a good day.

2010/12/23 Eitan Marder-Eppstein <eitan at willowgarage.com>

> 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
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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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>> 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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