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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?
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
