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
