mapping - Hector SLAM with AMCL for Localization

Question

The problem statement is to use AMCL with the odometry topic being published from hector slam to get the localised pose in a pre-built map. I have tried to make all the changes, but the AMCL pose is not getting updated. Can someone who has experience with this please help. As advised in https://www.ros-howto.com/question/104971-using-hector-slam-with-amcl-for-localization-in-a-pre-made-map, I have made the changes by changing names of map frame and topic. Is the odom topic I am passing to AMCL correct? Below is my launch file. `

<?xml version="1.0"?>

<launch>

  <arg name="geotiff_map_file_path" default="$(find hector_geotiff)/maps"/>
   <node pkg="map_server" type="map_server" name="map_server" args="/home/biswas/maps/map.yaml" />
  <param name="/use_sim_time" value="false"/>

  <node pkg="rviz" type="rviz" name="rviz"
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
  <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>
  <param name="serial_baudrate"     type="int"    value="115200"/><!--A1/A2 -->
  <!--param name="serial_baudrate"     type="int"    value="256000"--><!--A3 -->
  <param name="frame_id"            type="string" value="laser"/>
  <param name="inverted"            type="bool"   value="false"/>
  <param name="angle_compensate"    type="bool"   value="true"/>
  </node>

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_link"/>
  <arg name="odom_frame" default="base_link"/>
    <arg name="pub_map_odom_transform" default="false"/>
  <arg name="scan_subscriber_queue_size" default="1"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>
  
  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
    
    <!-- Frame names -->
    <param name="map_frame" value="maphector" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />
    <param name="pub_odometry" value="true" />
    
    
    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
    
    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />
    <remap from="map" to="maphector"/>
    
    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />
    
    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>
    
    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>
    
    <!-- Debug parameters -->
    <!--
      <param name="output_timing" value="false"/>
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>
    -->
    
    <param name="pub_map_scanmatch_transform" value="true" />
    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
  </node>
    
  <node pkg="tf" type="static_transform_publisher" name="base_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>


  <node pkg="amcl" type="amcl" name="amcl">
        <param name="tf_broadcast" value="true" />
        <param name="base_frame_id" value="base_link" />
        <param name="global_frame_id" value="map" />
        <param name="odom_frame_id" value="scanmatch_odom" />
        <param name="use_map_topic" value="true" />

        <remap from="scan" to="/scan" />
        <param name="transform_tolerance" value="0.2" />
        <param name="gui_publish_rate" value="-1.0"/>
        
        <param name="laser_sigma_hit" value="0.2"/>
        <param name="laser_lambda_short" value="0.1"/>
        <param name="laser_model_type" value="likelihood_field"/>
        <param name="laser_likelihood_max_dist" value="2.0"/>
        <param name="update_min_a" value="0.5"/>
        <param name="resample_interval" value="2"/>
        <param name="transform_tolerance" value="0.1"/>
        <param name="recovery_alpha_slow" value="0.0"/>
        <param name="recovery_alpha_fast" value="0.0"/>
      </node>

</launch>

`

question from:https://stackoverflow.com/questions/65867841/hector-slam-with-amcl-for-localization

Answer 1

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