I'm reading amcl document on ROS Wiki. In its subscribed topics there is not odometry topic, why? It works only with laser?

Subscribed Topics: (From ROS Wiki)

scan (sensor_msgs/LaserScan)

tf (tf/tfMessage)

initialpose (geometry_msgs/PoseWithCovarianceStamped)

map (nav_msgs/OccupancyGrid)

And my next question is how can I use amcl in Gazebo simulator for turtlebot? Any tutorial available?


1 Answer 1


amcl receives the integrated odometry information over the tf topic between base_link and odom and then computes the correction between the odom frame and the map frame as the odometry accumulates drift.

Frames are defined in REP 105


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