[ros-users] AMCL, Map Server, Stage World file.

[Brian Gerkey]

On Mon, Jun 28, 2010 at 1:02 PM, Narasimhan <narasimhan1990 at yahoo.co.in> wrote:

> there's one problem that i just couldn't figure it out. in nav_view the
> robot always starts at the left botton corner of the map regardless of what
> pose i set in .world file. but the robot views obstacles as it is in stage.

hi Narasimhan,

By default, amcl initializes the robot's pose to (0,0,0) in the map,
which is often in the lower-left corner. You can set  a different
initial pose with the `initial_pose_*` parameters:
http://www.ros.org/wiki/amcl#Parameters .

You can also reinitialize the robot's pose at any time by publishing
to the `initialpose` topic:
http://www.ros.org/wiki/amcl#Subscribed_Topics .  This is the more
common way to tell amcl where the robot is, and is what rviz does when
you use it to set the pose.

Note that amcl stores pose statistics in the parameter server.  So if
you stop amcl then restart it without restarting roscore, amcl will
pick up where it left off.

	brian.