Should i be able to set the current pose for amcl?

Question

In rviz i can click '2d pose estimate' and it'll say: [ INFO] [1300880777.184874919]: Setting pose: 52.773 -17.701 3.132 [frame=/odom]

or something. But it won't actually move the estimates that amcl is providing.

Additionally, i don't see a published service or subscribed topic for this in amcl beyond the 'initial' pose. Do i need to change the initial pose and somehow restart amcl?

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Originally posted by Murph on ROS Answers with karma: 1033 on 2011-03-23

Post score: 2

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Original comments

Comment by Murph on 2011-03-28:
and the 2d pose esstimate topic is set to "initialpose"

Comment by Murph on 2011-03-28:
Fixed frame is set to /odom currently.

Comment by Eric Perko on 2011-03-23:
What is your "fixed frame" set to when you do the 2D pose estimate? What topic is set for the "initialpose" topic in rviz?

Comment by Murph on 2011-03-23:
Also, additionally, should I be able to see the current pose? rviz suppose 'pose' but not 'PoseWithCovarianceStamped' that amcl outputs.

Answer 1

In order for rviz to correctly set the initialpose for AMCL, rviz's fixed frame must be the same as AMCL's map frame.

Change your fixed frame in rviz to /map and then your 2D Pose Estimates should work. You can verify that it is working by subscribing to the PoseArray particle cloud output by AMCL - after a successful estimate, a cloud of particles will be centered on the location you indicated.

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Originally posted by Eric Perko with karma: 8406 on 2011-03-28

This answer was ACCEPTED on the original site

Post score: 8

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Original comments

Comment by Murph on 2011-03-28:
Ugh. Seems that my network connection was suspect (I guess the master node couldn't ping the rviz node). -_- your answer was right. thanks!

Comment by Murph on 2011-03-28:
The cloud of particles does not seem to change location when i do a 2D pose estimate in rviz. I have the fixed frame on /map.

Comment by ounsworth on 2014-06-17:
Thank you! Running rviz on the same machine as the master fixed it for me!