(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Running AMCL with Volta

Description: AMCL with Volta

Keywords: Volta

Tutorial Level: BEGINNER

Next Tutorial: Launching the Navigation Stack with Volta

The following tutorials illustrate how to use AMCL with Volta. For more details on AMCL, refer to the Navigation tutorials.

Instructions:

  • Follow the instructions under Launching a Gazebo Simulation environment tutorial, to load the Volta simulation

  • Launch the navigation nodes by running:
    $ roslaunch volta_navigation navigation.launch 
  • This will launch move_base and the amcl nodes
  • For visualization, launch the rviz tool by running:
    $ rosrun rviz rviz 
  • The configuration file, navigation.rviz, located under the volta_navigation -> rviz_config folder, can be loaded in rviz to setup the volta configured rviz environment

  • If a different map is required for the amcl node, move the map file to the “maps” folder located under volta_navigation package
  • In the navigation.launch file, update the name of the map file to the name of the newly saved map
  • Use the 2D Pose Estimate tool in the top toolbar to give amcl an initial pose estimate. Without an initial pose estimate, the Monte Carlo localization approach is unlikely to converge to the correct pose as shown in the picture below.

    Tutorial_3a

  • An example of how Volta looks without 2D pose estimate Tutorial_3b

  • How Volta looks with 2D pose estimate

  • Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map
  • The whole simulation should look similar to the video below

    https://lh3.googleusercontent.com/pw/ACtC-3dtYUWJiXTBRHQWKC0ACIY_WB2HqMZT14imAGAMrmrQyHIuCsnKpQoop0HfyHjIfG_wqZ1PKyMszSTVYo7Ac-rwBK9PybbLaWFyBM-KnZGJl6v5Lxf_m1avJZZpIYBV6jZmUAdSB5UFQN7CYfUKX4U=w544-h306-no?authuser=6

Wiki: Robots/Volta/Tutorials/Running AMCL with Volta simulation (last edited 2020-10-14 04:47:28 by Botsync)