I am currently using a turtlebot in an office setting (cubicles/hallways create very few unique landmarks). My bot is attempting localization and placing itself in various incorrect areas. Is there a way to tell the bot where it roughly is within rviz? I tried using the 2D Pose Estimate but that doesn't work.
Thanks! TaylorC
Originally posted by TaylorC on ROS Answers with karma: 148 on 2012-05-30
Post score: 2
Original comments
Comment by Dan Lazewatsky on 2012-05-30:
Just to be clear, are you using gmapping, or amcl? gmapping performs both mapping and localization. If you already have a map, you should use amcl, which just does localization and can use the 2D pose estimate from rviz.
Comment by TaylorC on 2012-05-30:
I am using gmapping and have yet to get a solid and accurate map.
Comment by piyushk on 2012-05-30:
Ensure that your turtlebot odometry is correct before running gmapping. Have you already gone through this tutorial already: http://www.ros.org/wiki/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro?
Comment by TaylorC on 2012-05-30:
I have calibrated it. I had to use rviz and manually calibrate it. The calibration program kept giving me higher and higher values. It maps unique rooms fine but has trouble with similar rooms. It will localize itself to a similar room.
