Solution the problem (instruction on notebook)

Course Support Robot Localization With Sensor Data
1

Hello, i was confused about the instruction, but i’d found the solution so i’ve done the course.

Maybe it can help anyone that confused too.

in start_amcl_localization.launch :

  <param name="odom_frame_id" value="odom"/>
  <param name="base_frame_id" value="base_footprint"/>
  <param name="global_frame_id" value="map"/>

change to

  <param name="odom_frame_id" value="summit_xl_a_odom"/>
  <param name="base_frame_id" value="summit_xl_a_base_link"/>
  <param name="global_frame_id" value="map"/>

in move_base_map.launch:
**add this three line after

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

<remap from="scan" to="/hokuyo_base/scan" />
<remap from="cmd_vel" to="/summit_xl_control/cmd_vel"/>
<remap from="odom" to="/odometry/filtered" />

I hope the instruction on notebook can be updated too :slight_smile:

1 Like
2

Thanks for the suggestion and correction!

We have just uploaded the fix to the notebooks, so they should appear now with your modifications ;).

Thanks a lot for your contribution to make RobotIgniteAccademy better each day ;).

3

Hello there,

why should one remap the odometry/filtered topic to odom for the amcl node if amcl is not subscribing to odom?