amcl_pose_updater

This is modified version of amcl ros package. We added amcl pose updater that updates amcl_pose and the particle states when known-pose flag is detected.

Download

cd ~/leo_ws/src
git clone https://github.com/haeyeoni/amcl_pose_updater
cd ~/leo_ws
catkin_make

Usage:

Run amcl_pose_updater node

roslaunch amcl_pose_updater amcl_diff.launch 

When you want to update pose with new known pose (fixed covariance)

rosservice call /pose_update  new_x new_y new_theta