Questions tagged [amcl]

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laser_frame is moving

When I launch AMCL and give initial pose , the amcl launched terminal shows: Failed to transform initial pose in time (Lookup would require extrapolation into the future. Requested time 1706706126....
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Multi Robots AMCL does not combine map and scan frames

robot1/scan and robot1/map topics are working fine but some errors occurs rqt ...
Kaan Karakoç's user avatar
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38 views

Issue when robot tries to align with target orientation

I am using AMCL + Nav2 Stack for my custom robot to localize and navigate. When I send a target pose, the robot moves toward it properly. However, when it reaches the target position and tries to ...
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Knowing whether the robot is delocalised or not by observing relevant data

The way that we know if a robot is delocalised is by opening RViz and observing the laser's scan data with respect to the static map on the ...
user37666's user avatar
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Localization problem of my robot in RVİZ environment at first run

I am doing research for the first positioning for my robot to be done correctly on the map. I have done various researches and applications (such as amcl, ICP) for these and I am still continuing. But ...
furkancetin's user avatar
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AMCL does not localize my robot

I am trying to use AMCL (nav2_amcl) with my custom robot, but localization doesn't seem to run. I launch my robot frames and a transform from ...
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2 answers
32 views

How to remap tf publication of AMCL

I'm trying to perform Localization in outdoor and indoor situations, and I would like to remap the /tf publisher from AMCL node so I can redirect it to a mux where I could select which algorithm ...
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questions about amcl and hector slam

My current urdf files have base_link and base_footprint as parents and child links , however i want to use amcl , i have another launch file for amcl which publishes the odom frame , but my urdf files ...
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how to add a TF for odom --> base_link?

I'm trying to do amcl and currently my map is not working and found the solution, which is the odom --> base_link TF currently not found, how do I create a odom --> base_link TF? Currently ...
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2 answers
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Robot getting spawned at the corner of map

using ubuntu 18.04 melodic i am currently trying to do amcl with my robot with a generated map from gmapping my map now cannot be spawned normally and the robot is alw at the corner , please help me , ...
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Unable to localize multi robot due to amcl not receiving scan data

Hello guys i am working on multi robot. All works well. I am able to get topics for different robot for their namespaces . I am also able to echo the scan topics , provide the map by the map-server ...
Davies Ogunsina's user avatar
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1 answer
90 views

Rviz Amcl spreading over time when stayin still

I am trying Multirobot navigation with the navigation_stack and the Rviz, in ros noetic. When i publish the amcl when starting, the spread looks normal. Then i publish a goal, the robot moves and the ...
Michalis's user avatar
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1 answer
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No map received in rviz

Iam trying to launch the amcl.launch file with MapServer node. and I have taken the map with octomap and want to visualize the map in 3d. so I have created a launch file for that. but i am getting ...
Uday Kumar's user avatar
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1 answer
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/scan topic comes from a camera node rather than the desired LiDAR node

Hi guys. I'm trying to use a rplidar to run amcl navigation with my pre-built map on Turtlebot2, ROS Kinetic. Below is my amcl launch file: ...
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1 answer
63 views

How to overcome Odom drift while using amcl?

Hi ros community How to fix the Odom drift I have only used laser_scan for localisation. And also When I was doing amcl while launching it, the pose direction is perpendicular to my robot, I played ...
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1 answer
195 views

No laser scan received (and thus no pose updates have been published) for 18.974000 seconds. Verify that data is being published on the /scan topic

Hi all, i already searched this question on all over answers.ros.org, but i didnt found answer on the issue i have. I built a custom 4 wheel bot and i added a navigation stack(map, move_base, amcl and ...
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1 answer
9 views

How to make ira_laser_tools work with AMCL/GMCL and GMapping?

I am currently on ROS Noetic Ubuntu 20.04 LTS. I am not doing this in simulation, although I believe you will run into the same problem if done in simulation. The problem is that GMapping or AMCL/GMCL ...
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1 answer
9 views

[ROS + Gazebo + SLAM] How to get specific goal from map?

Hi everybody, I have set up navigation stack for my mobile robot. Now I want to get specific goal from map (or LaserScan data) based on the shape of scan (let's say I have model of rack with multiple ...
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2 answers
20 views

Is it okay to use ROS Navigation Stack for a heavy(200kg +) robot?

Hello, I wanted to know if we can use the amcl, move_base along with existing planners like TEB and cost maps plugins for a robot weighing 200+ kgs? I intend to operate the robot at an average ...
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1 answer
131 views

AMCL cannot publish a pose or update the transform. Please set the initial pose

I'm a ROS2 n00b trying to learn navigation2. I have a lot of experience with ROS1's navigation stack but am having basic issues with navigation2. I'm running ROS2 galactic built from source on an ...
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1 answer
11 views

How to distribute amcl's particles all over the map?

Hi, when you first launch Rviz with particle cloud, the particles is gathered around the robot model, I wonder how to make those particles distribute all over my map? Thanks in advance. Originally ...
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1 answer
8 views

AMCL aborts global costmap

I have problems with Rviz2 when pose estimating a robot. I get the following error: ...
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1 answer
20 views

Can odometry be calculated with LaserScan alone?

I am building a robot and implementing autonomous navigation using gmapping, amcl, and move_base. From my understanding the amcl package compares the map to lidar data (sensor_msgs/LaserScan) to ...
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2 answers
47 views

Laser Scanner Rotation when the robot is moving

Hello there everyone, I am running into an issue with the navigation stack with move base and AMCL in ROS. The issue is, every time the robot rotates by a certain degree, the laser also rotates and ...
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1 answer
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AMCL node crashed

Hi, I am new in ROS2. Currently I am trying AMCL implementation on the real robot. I had a lidar mounted on the robot. Whenever, I started the AMCL node, it is able to be activated fine till " I ...
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1 answer
99 views

What difference between SLAM locating and AMCL locating

SLAM can analysis the environment and locating iteself. And AMCL can locate itself with saved map. What difference between the two locating method of SLAM and AMCL? Because SLAM can locate, the AMCL ...
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1 answer
37 views

Best localization algorithms available in ROS2/ROS1

I have used slam_toolbox and AMCL are these the only options. If we only have slam_toolbox and AMCL then which one is preferred strictly for localization(no mapping ) for large warehouses with a ...
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1 answer
4 views

EKF start to predict after amcl stop sending pose

Hello, I'm trying to use robot_localization to fuse amcl_pose with encoder odom, and latter GPS. The experiment is basing on Turtlebot3, gazebo and ros2-foxy. It's working well if the robot is moving. ...
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1 answer
33 views

Navigation path planning over long distances

I'm having an issue with move_base and/or Navfn whereby the control system can't plan a path for anything over a certain distance. The path planning (and following) works fine for short nav goals: ...
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1 answer
25 views

navigation2 - Set two scan topics to AMCL

Hi, Env: ROS2 Foxy / Ubuntu 20.04 I have a robot navigating with two Lidars, so I have two topics /scan_front and /scan_back. in the costmap i am setting observation_sources: scan1 scan2, but how can ...
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1 answer
2 views

Output update of robot position coordiantes

Hi all, I did a mapping of my static area with hector_slam using RP-Lidar 2D scanner and then i finished path planning using husky_slam, now i'm about to make my robot navigate through the map. The ...
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1 answer
5 views

robot_localization (ekf node) output is not stable for a long time

Hi. I am using ekf_localization_node for fusing imu, wheel odometry and amcl_pose ( My config is as follow ) The reason why i am using amcl_pose; When i use ...
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1 answer
22 views

Localization, using robot_localization and robot_pose_ekf

What is the difference between robot_pose_ekf (package) and robot_localization. I have encoder odometry, lidar scan and imu sensor data.... How can we combine these sensor to get better localization ...
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1 answer
73 views

Control loop missed its desired rate of 20.0000Hz... the loop actually took 0.1600 seconds

Hi there, why is this happening after I send a nav goal? ...
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1 answer
3 views

When robot rotates, pose arrows diverges(which makes turning difficult)

Hello, There is no problem in navigation except this one. Robot tries to choose the closest path possible but this makes robot rotate sharp turn. That is why in the middle of narrow path, robot stops ...
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1 answer
6 views

Amcl localization accurate, but slightly offset from lidar data

I have what looks like a very good localization of the robot to the map. But when overlaid with the current lidar scan data, the localization is just a little offset, but with high confidence. See ...
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1 answer
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amcl package not on ROS Noetic

Hi, I recently installed ROS Noetic from this link on Ubuntu 20.04, and was planning on using the amcl package for localization applications. It seems that the amcl package is not located in the ...
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1 answer
5 views

Does AMCL still work in an edited map?

I have a global map of a big room but edited the .pgm file and added a wall so that the robot doesn't drive under a table. My question is does AMCL use this map to correct the localisation of the ...
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1 answer
5 views

Amcl particlecloud topic not publishing

Hi, I would like to know why rviz is not showing the particle cloud for any of my robots. Below I have provided my navigation stack launch file and my amcl parameters yaml file. Everything works (e.g. ...
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1 answer
12 views

Plotting covariance from amcl_pose in Matlab

I have recorded a bag-file and am trying to plot the /amcl_pose/pose/covariance matrix which has a message type ...
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1 answer
5 views

multiple amcl on one odom

I'm trying to evaluate and compare 2 lidar performance at the same time on the same robot. I know amcl can only take in one odom at a time, is this possible? Originally posted by lunatic on ROS ...
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1 answer
7 views

What is the difference between the global and local plan in AMCL navigataion?

Hello, I'm using ROS kinetic on ubuntu 16.04 Actually I'm trying to make the node that can execute navigate with its sensors. As far as I've understood, when I point the goal, the ...
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1 answer
45 views

What is the /odom topic?

Hello, I'm working on ROS kinetic in Ubuntu 16.04. I have a simple question; what is the /odom topic? Of course I know it represents the pose of mobile robot at ...
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1 answer
7 views

How to make the turtlebot move with path?(related to AMCL)

Hello, I'm using ROS kinect on Ubuntu 16.04. I'm trying to get my turtlebot move in the navigation environment and made AML files for it like below: ...
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1 answer
14 views

how to localize robot with lidar in ros melodic

I was using laser_scan_matcher and AMCL nodes together to locate my robot in ROS Kinetic. Unfortunately, ...
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1 answer
7 views

Autonomous Navigation Algorithm for Robot without know the map

Hi i want to ask something about the algorithm, can we navigate the robot without know the map first? (I use LIDAR) I read about amcl, amcl is for estimate the robot, and amcl should know the map ...
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1 answer
13 views

Why AMCL not update the tf values between map and base_link?

I am developing an Omnidirectional robot's controlling system using ROS kinetic. And I am trying to use AMCL to localize the robot on a saved map. Also I don't use any odom data. I use laser scan data ...
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1 answer
2 views

Display topic as mark on rviz and mobile robot model too

Hello, I'm working on ROS kinetic on ubuntu 16.04. I currently have a topic made of geometry_msgs/PoseWithCovariance and geometry_msgs/TwistWithCovariance and so on. And I want to display this topic ...
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2 answers
29 views

amcl parameters and robot localization without 2D Pose Estimate tool

so, during navigation we run amcl and move_base. And at first we need to estimate robot's position in Rviz using "2D Pose Estimate" tool. Why do we need to do this? Why do we need to help ...
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1 answer
2 views

Does odom starting at 0 affect amcl?

Hello community! I am using an iRobot package that has the odom always starting at position: (0,0,0) orienation: (0,0,0,1) and the hokuyo laser + package urg_node. I am wondering if having position at ...
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