Localise on the saved map
ROS 2 → Navigate and share your robot
Initialize AMCL on a saved map
The Nav2 video's AMCL chapter switches from active mapping to using a saved map. The initial pose tells localization where to start; sensor alignment then helps assess whether that estimate is plausible.
Reference environment: Ubuntu 24.04, ROS 2 Jazzy and Gazebo Harmonic. Some Articulated Robotics videos use older Foxy/Gazebo Classic examples. Use the linked documentation for compatible commands and plugins. You can read and watch on mobile; simulation needs a computer.
Video by Josh Newans / Articulated Robotics ↗ · Starts at 11:24
Lesson notes
- Load the correct map and initialize position and heading.
- Compare laser returns with mapped walls.
- Keep a single intended publisher of each transform relationship.
Explain it in your own words
What would you check when laser returns do not line up with the map?
Compare your explanation
Map choice, initial pose/heading, laser transform, time settings and the localization configuration before sending a navigation goal.
Further reading and sources
Completion saves automatically after you read through to the end.
Next lesson →