[Question]: How to use amcl to do the localization

[shanchaicn]

Question

Hi there,

1. When I do the localization after finishing the map, sometimes the locobot will miss its location. Then the costmap cannot match the static map. According to what I know, it is because that the Rtabmap's localization is only base on the camera data. If I want the LOCOBOT to correct the odom with Lidar, could I use AMCL to make it? And how can I implement it. (What packages should I include except the AMCL?)

Sometimes the locobot can position itself well with rtabmap. I really like it. I still want to to know how can I improve the success rate.

2. When I am running the locobot, it might have an accumulation of Z - axis positions. I can show you the tf tree and the issue here. It will not affect the program but I want to know why and how to fix it.

Thanks in advance

Robot Model

locobot_base

Operating System

Ubuntu 20.04

ROS Version

ROS 1 Noetic

Additional Info

[shanchaicn]

The current solutions are as follows, I don't know if they are correct and efficient.

For the problem1, what I can do is just running the locobot somewhere randomly and hope it can find the position. So, I wonder may I use AMCL to do this part.

For the problem2, I can restart the locobot's base to reset the odom of create3, then it will go back to the ground.

[shanchaicn]

locobot/base_link is the frame floating in the air.