Article Directory
1. Install the navigation function package
2. Copy the amcl file in the function package
roscd amcl
ls examples
There are two files listed in this directory: amcl_diff.launch and amcl_omni.launch files, the former is suitable for differential mobile robots, and the latter is suitable for omnidirectional mobile robots, which can be selected as needed, and the differential speed is rotated here.
Enter gedit examples/amcl_diff.launch and copy the content to nav04_amcl.launch
3. Write a test launch file
<launch>
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />