Learning Robotics using Python - Second Edition

Implementing AMCL in the Gazebo environment

In this section, we will learn how to implement AMCL in our Chefbot. We will use the following procedures to incorporate AMCL within the simulation. Each command should be executed in each terminal.

The first command starts the Gazebo simulator:

    $ roslaunch chefbot_gazebo chefbot_hotel_world.launch  

Now we can start the AMCL launch file, with or without the map file as an argument. If you want to use a custom map that you have built, then use the following command:

    $ roslaunch chefbot_gazebo amcl_demo.launch map_file:=/home/<your_user_name>/Desktop/hotel  

If you want to use the default map, you can use the following command:

    $ roslaunch chefbot_gazebo amcl_demo.launch  

After starting AMCL, we ...