rf2o doesn't work with amcl for localization

[hilmi-ica]

Hi guys, i was trying to do a localization only using a Lidar (SICK NAV310). So i opted to integration of amcl and rf2o package. But the laser scan wont match with known map when the lidar was moving and the orientation seems inverted. Here is my launch file:

<launch>
      <node pkg="map_server" type="map_server" name="map_server" args="/home/hilmi/catkin/data/maps/lab_ica_1.yaml" />
      <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />

      <node pkg="rf2o_laser_odometry" type="rf2o_laser_odometry_node" name="rf2o_laser_odometry" output="screen">
          <param name="laser_scan_topic" value="/sick_nav_3xx/scan" />
          <param name="odom_topic" value="/odom_rf2o" />
          <param name="publish_tf" value="true" />
          <param name="base_frame_id" value="base_link" />
          <param name="odom_frame_id" value="odom" />
          <param name="init_pose_from_topic" value="" />
          <param name="freq" value="8.0"/>
          <param name="verbose" value="true" />
      </node>

      <node pkg="amcl" type="amcl" name="amcl" output="screen">

          <param name="fixed_frame" value="map"/> -->
          <param name="use_map_topic " value="true"/>
          <param name="odom_frame_id" value="odom" />
          <param name="base_frame_id" value="base_link" />
          <param name="frame_id" value="laser" />
          <param name="tf_broadcast" value="true"/>
          <remap from="scan" to="/sick_nav_3xx/scan" />

          <!-- Publish scans from best pose at a max of 10 Hz -->
          <param name="odom_model_type" value="diff-corrected"/>
          <param name="odom_alpha5" value="0.1"/>
          <param name="gui_publish_rate" value="10.0"/>
          <param name="laser_max_beams" value="30"/>
          <param name="min_particles" value="500"/>
          <param name="max_particles" value="5000"/>
          <param name="kld_err" value="0.05"/>
          <param name="kld_z" value="0.99"/>
          <param name="odom_alpha1" value="0.2"/>
          <param name="odom_alpha2" value="0.2"/>
          <!-- translation std dev, m -->
          <param name="odom_alpha3" value="0.8"/>
          <param name="odom_alpha4" value="0.2"/>
          <param name="laser_z_hit" value="0.5"/>
          <param name="laser_z_short" value="0.05"/>
          <param name="laser_z_max" value="0.05"/>
          <param name="laser_z_rand" value="0.5"/>
          <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_model_type" value="beam"/> -->
          <param name="laser_likelihood_max_dist" value="2.0"/>
          <param name="update_min_d" value="0.2"/>
          <param name="update_min_a" value="0.5"/>
          <param name="odom_frame_id" value="odom"/>
          <param name="resample_interval" value="1"/>
          <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>

(sorry i'm new to github)

And here is my tf_tree and tf_node_graph:

And the thing is when i try to use laser_scan_matcher for the odometry instead of rf2o by following this tutorial and some twekings, it works fine!

Hope anyone can help! Thanks!

[fatemehprhm]

Hi, im facing the same issue did you find any solution for this problem?

[simbolonmartin]

You must match the parameter odom topic in your rf2o node and the amcl node. My suggestion is to change the value from /odom_rf2o to /odom.

<node pkg="rf2o_laser_odometry...>
..
<param name="odom_topic" value="/odom" />
..
</node>