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ROS_Turtlebot3_step1(デフォルト位置変更)

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ROS_Turtlebot3_step1 

勉強の備忘録です。
turtlebot3の位置は、デフォルトでは原点です。

amcl.launch
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

Screenshot from 2019-11-25 20-24-20.png
なのでScreenshot from 2019-11-25 20-27-25.pngこれをいちいち使わないといけません。
そこでめんどくさいので、設定方法はないものかと探索!

turtlebot3_navigation/launch amcl.launchをこのようにすると解決しました。
でも少し不具合があるような気もしている。。。また中身たどってみていこう。

amcl.launch
  <arg name="initial_pose_x" default="-2.0"/>
  <arg name="initial_pose_y" default="-0.5"/>
  <arg name="initial_pose_a" default="0.0"/>

こちらのように問題解決しましたー!
Screenshot from 2019-11-25 20-06-15.png

■謝辞
@MoriKen さんのお力添えもあり感謝です!

■turtlebot3はこちらから
http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/
http://wiki.ros.org/turtlebot3

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