Hi! This is part of my final year project work. I am facing multiple problems and i need help.
I am aiming to build a robot that can localize itself on a known map and navigate to certain given points on the map. The robot has the basic structure as mentioned in navigation [stack tutorial](http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF). Here for publishing the odometry, I have used wheel encoders and receiving them from an arduino board via serial.
I am publishing a already generated map using `map_server` . In order to localize the robot on this map i am planning to use `amcl`. On rviz, when i set the fixed frame as `/map` it displays the correct map but shows an error that fixed frame doesnot exist. For publishing the transform i have used exactly the same code as mentioned on [tf_broadcaster tutorial](http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF). How to get amcl working so that i can localise my robot?? I am getting laser scans on topic `/scan`.
- Is it necessary to have a urdf model of robot before i can do localisation?
- How can i transform data from this /scan topic to base_link as mentioned in tutorial?
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