Confusion about AMCL and Odometry remapping

Course Support Robot Localization With Sensor Data
1

Hello there,

I am working through the “Fuse Sensor Data to Improve Localization” course.
I am quite confused why we should remap the odoemtry topic for the AMCL node in Unit2 to the odometry of the robot_localization package since AMCL does not subscribe to any odometry topic.

Why should one do this?

http://wiki.ros.org/amcl#Subscribed_Topics

2

Hello @georg.novotny2 ,

Yes, you are totally right. This is a mistake in the notebook. The AMCL node does actually use odometry data, but it doesn’t get it directly from the topic but from the transform between the odom->base_link frames. I will update the notebook in order to point this out and clear this mistake.

Thanks for your feedback