HOW TO perform localization with AMCL

Contents

Note

the package worlds already contains the map file created during this HOW TO.

Save the map

the exploration performed with GMapping can be saved using map_server map_saver.

# enable the robot environment
roslaunch robocluedo_robot_hunter run2.launch sim_type:=gazeborviz 1>/dev/null 2>/dev/null

# do some exloration
rosrun teleop_keyboard teleop_twist_keyboard.py

# save the map
rosrun map_server map_saver -f /root/ros_ws/src/erl3/robocluedo_dependencies/worlds/data/assignment3_map

the output from the map_saver should be like this:

root@3b17871017fd:~/ros_ws/src/erl3/_docs# rosrun map_server map_saver -f /root/ros_ws/src/erl3/robocluedo_movement_controller/data/map
[ INFO] [1661074988.866398200]: Waiting for the map
[ INFO] [1661074989.080666300, 1172.635000000]: Received a 1984 X 1984 map @ 0.050 m/pix
[ INFO] [1661074989.080824600, 1172.636000000]: Writing map occupancy data to /root/ros_ws/src/erl3/robocluedo_movement_controller/data/map.pgm
[ INFO] [1661074989.166739700, 1172.691000000]: Writing map occupancy data to /root/ros_ws/src/erl3/robocluedo_movement_controller/data/map.yaml
[ INFO] [1661074989.166996800, 1172.691000000]: Done

Load the map with AMCL

here’s how to run AMCL via launch file:

<?xml version="1.0"?>

<launch>

<node pkg="map_server" name="map_server" type="map_server" arg="$(find worlds)/data/assignment3_map.yaml" />

<param name="use_sim_time" value="true" />
<node pkg="amcl" type="amcl" name="amcl" output="screen" />
	<param name="base_frame_id" value="base_link" />
	<param name="min_particles" value="1000" />
	<param name="max_particles" value="5000" />
	<param name="odom_alpha1" value="2" />
	<param name="odom_alpha2" value="2" />
</node>

</launch>

here’s the command to try the AMCL map of the environment:

roslaunch robocluedo_robot_hunter run2.launch sim_type:=gazeborviz launch_nav_stack:=false launch_amcl:=true 1>/dev/null 2>/dev/null