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Hi everybody, I'd like to know if there is a way to get the 2D pose estimates by AMCL at a fixed rate as is the case for the Hector SLAM in which the topic poseupdate provides the pose estimates at 40Hz with the Hokuyo UTM-30LX.

Thanks in advance!


Originally posted by Marty on ROS Answers with karma: 11 on 2016-02-21

Post score: 1

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Afaik, not without modifying the code, as amcl running frequency is marked by the /scan messages arrival. Even then, you normally see lower frequencies because if update_min_d/update_min_a parameters are >= 0, it skip scans until the robot moves/turns more than these values (with negative values, amcl publishes poses even when the robot is stopped.


Originally posted by jorge with karma: 2284 on 2016-02-21

This answer was ACCEPTED on the original site

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Original comments

Comment by Marty on 2016-02-25:
Thank you for your reply Jorge. I set update_min_d/update_min_a with negative values but I get the following error

Transform [sender=unknown_publisher] For frame [laser]: No transform to fixed frame [map].

This error does not occur if the two parameters are positive.

Comment by jorge on 2016-02-25:
mmm.... I noticed that by inspecting the code, tried it on Stage simulation and it worked... which ROS version are you using?

Comment by Marty on 2016-02-25:
ROS Indigo

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