{"id":2407,"date":"2025-07-07T15:02:04","date_gmt":"2025-07-07T15:02:04","guid":{"rendered":"https:\/\/learnbydoing.dev\/?p=2407"},"modified":"2026-01-10T22:28:09","modified_gmt":"2026-01-10T22:28:09","slug":"navigation-with-move_base-and-amcl-ros1","status":"publish","type":"post","link":"https:\/\/learnbydoing.dev\/navigation-with-move_base-and-amcl-ros1\/","title":{"rendered":"Navigation with move_base and AMCL (ROS)"},"content":{"rendered":"<div data-elementor-type=\"wp-post\" data-elementor-id=\"2407\" class=\"elementor elementor-2407\" data-elementor-post-type=\"post\">\n\t\t\t\t<div class=\"elementor-element elementor-element-e28ab35 e-flex e-con-boxed e-con e-parent\" data-id=\"e28ab35\" data-element_type=\"container\" data-e-type=\"container\" id=\"content\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t<div class=\"elementor-element elementor-element-62ab6e3 e-con-full e-flex e-con e-child\" data-id=\"62ab6e3\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-62ab203 elementor-align-center elementor-widget elementor-widget-post-info\" data-id=\"62ab203\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"post-info.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<ul class=\"elementor-inline-items elementor-icon-list-items elementor-post-info\">\n\t\t\t\t\t\t\t\t<li class=\"elementor-icon-list-item elementor-repeater-item-2c98363 elementor-inline-item\" itemprop=\"about\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-icon-list-text elementor-post-info__item elementor-post-info__item--type-terms\">\n\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-post-info__terms-list\">\n\t\t\t\t<span class=\"elementor-post-info__terms-list-item\">Linux<\/span>, <span class=\"elementor-post-info__terms-list-item\">ROS<\/span>, <span class=\"elementor-post-info__terms-list-item\">Tutoriales<\/span>\t\t\t\t<\/span>\n\t\t\t\t\t<\/span>\n\t\t\t\t\t\t\t\t<\/li>\n\t\t\t\t<\/ul>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-0650e10 e-con-full e-flex e-con e-child\" data-id=\"0650e10\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-ac19582 elementor-view-default elementor-widget elementor-widget-icon\" data-id=\"ac19582\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"icon.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-icon-wrapper\">\n\t\t\t<div class=\"elementor-icon\">\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"75\" height=\"75\" viewbox=\"0 0 75 75\" fill=\"none\"><path d=\"M74.9999 75H13.1889V73.0002H71.5859L0.460938 1.87521L1.87515 0.460999L73.0001 71.586V13.1889H74.9999V75Z\" fill=\"white\"><\/path><\/svg>\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-47aa245d e-flex e-con-boxed e-con e-parent\" data-id=\"47aa245d\" data-element_type=\"container\" data-e-type=\"container\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-775a637 elementor-widget elementor-widget-image\" data-id=\"775a637\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"800\" height=\"450\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL-1024x576.webp\" class=\"attachment-large size-large wp-image-2412\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL-1024x576.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL-300x169.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL-768x432.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL-1536x864.webp 1536w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL-18x10.webp 18w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL.webp 1920w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-261c3d8 elementor-widget elementor-widget-text-editor\" data-id=\"261c3d8\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<p><span class=\"NormalTextRun SCXW208749094 BCX0\">In this tutorial, you will learn how to autonomously navigate a mobile robot in ROS1 using the `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW208749094 BCX0\">move_base<\/span><span class=\"NormalTextRun SCXW208749094 BCX0\">` package for path planning and `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW208749094 BCX0\">amcl<\/span><span class=\"NormalTextRun SCXW208749094 BCX0\">` for probabilistic localization on a prebuilt map. We will use a simulated robot (e.g., TurtleBot3) with a map previously generated using SLAM.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-324d52d elementor-widget elementor-widget-text-editor\" data-id=\"324d52d\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 data-start=\"1857\" data-end=\"1885\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">\u00a0\ud83d\udcdd Required components<\/span><\/span><\/span><\/span><\/h3><ul><li><span class=\"TextRun SCXW63166865 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63166865 BCX0\">ROS1 installed (e.g., Noetic on Ubuntu 20.04)<\/span><\/span><\/li><li><span class=\"TextRun SCXW63166865 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63166865 BCX0\">Packages: `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63166865 BCX0\">amcl<\/span><span class=\"NormalTextRun SCXW63166865 BCX0\">`, `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63166865 BCX0\">move_base<\/span><span class=\"NormalTextRun SCXW63166865 BCX0\">`, `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63166865 BCX0\">map_server<\/span><span class=\"NormalTextRun SCXW63166865 BCX0\">`<\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW63166865 BCX0\"><span class=\"SCXW63166865 BCX0\">\u00a0<\/span><br class=\"SCXW63166865 BCX0\" \/><\/span><\/li><li><span class=\"TextRun SCXW63166865 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63166865 BCX0\">A static map (`.<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63166865 BCX0\">yaml<\/span><span class=\"NormalTextRun SCXW63166865 BCX0\">` + `.<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW63166865 BCX0\">pgm<\/span><span class=\"NormalTextRun SCXW63166865 BCX0\">`) previously built using SLAM<\/span><\/span><\/li><li><span class=\"TextRun SCXW63166865 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW63166865 BCX0\">Gazebo simulation or real robot in a controlled environment<\/span><\/span><span class=\"EOP SCXW63166865 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-a236fe0 elementor-widget elementor-widget-text-editor\" data-id=\"a236fe0\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 aria-level=\"2\"><b><span data-contrast=\"none\"><span style=\"vertical-align: inherit;\"><span style=\"vertical-align: inherit;\">Step 1: <span class=\"TextRun SCXW233333989 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW233333989 BCX0\" data-ccp-parastyle=\"heading 1\">Launch the Navigation Stack<\/span><\/span><\/span><\/span><\/span><\/b><\/h3>\n<p><span data-contrast=\"auto\">Launch the full navigation system with the saved map:<\/span><span data-ccp-props=\"{}\">&nbsp;<\/span><\/p>\n<p><b><i><span data-contrast=\"none\">roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME\/map.yaml<\/span><\/i><\/b><span data-ccp-props=\"{&quot;335559685&quot;:936,&quot;335559737&quot;:936,&quot;335559738&quot;:200,&quot;335559739&quot;:280,&quot;335572079&quot;:4,&quot;335572080&quot;:4,&quot;335572081&quot;:12419407,&quot;469789806&quot;:&quot;single&quot;}\">&nbsp;<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ee10903 elementor-widget elementor-widget-image\" data-id=\"ee10903\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"800\" height=\"534\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1-1024x683.webp\" class=\"attachment-large size-large wp-image-2409\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1-1024x683.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1-300x200.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1-768x512.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1-18x12.webp 18w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1.webp 1536w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-e04c0ca elementor-widget elementor-widget-text-editor\" data-id=\"e04c0ca\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3 aria-level=\"2\">\ud83d\udda5\ufe0f<b><span data-contrast=\"none\">Step 2: I<span class=\"TextRun SCXW242840902 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW242840902 BCX0\" data-ccp-parastyle=\"heading 1\">nitialize Robot Pose<\/span><\/span><span class=\"EOP SCXW242840902 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:480,&quot;335559739&quot;:0}\">\u00a0<\/span><\/span><\/b><\/h3><p id=\"tw-target-text\" class=\"tw-data-text tw-text-large tw-ta\" dir=\"ltr\" data-placeholder=\"Traduzione\" data-ved=\"2ahUKEwjIo-uooqSOAxWf0QIHHfG9BBYQ3ewLegQICRAV\" aria-label=\"Testo tradotto: Below you will find the complete code to use the humidity sensor:\"><span class=\"TextRun SCXW30033365 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW30033365 BCX0\">In <\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW30033365 BCX0\">RViz<\/span><span class=\"NormalTextRun SCXW30033365 BCX0\">, click the \u201c2D Pose Estimate\u201d button and select the robot\u2019s <\/span><span class=\"NormalTextRun SCXW30033365 BCX0\">initial<\/span><span class=\"NormalTextRun SCXW30033365 BCX0\"> position and orientation on the map. This will help AMCL converge with <\/span><span class=\"NormalTextRun SCXW30033365 BCX0\">an accurate<\/span> <span class=\"NormalTextRun SCXW30033365 BCX0\">initial<\/span><span class=\"NormalTextRun SCXW30033365 BCX0\"> pose estimate.<\/span><\/span><span class=\"EOP SCXW30033365 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-d8a603f elementor-widget elementor-widget-image\" data-id=\"d8a603f\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"800\" height=\"534\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1024x683.webp\" class=\"attachment-large size-large wp-image-2410\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-1024x683.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-300x200.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-768x512.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26-18x12.webp 18w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/ChatGPT-Image-7-lug-2025_-16_40_26.webp 1536w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7a888ec elementor-widget elementor-widget-text-editor\" data-id=\"7a888ec\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3><span class=\"TextRun SCXW268373394 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW268373394 BCX0\" data-ccp-parastyle=\"heading 1\">Step 3: Send a Navigation Goal<\/span><\/span><span class=\"EOP SCXW268373394 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:480,&quot;335559739&quot;:0}\">\u00a0<\/span><\/h3><p><span class=\"TextRun SCXW143587575 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW143587575 BCX0\">Click the \u201c2D Nav Goal\u201d button in <\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW143587575 BCX0\">RViz<\/span><span class=\"NormalTextRun SCXW143587575 BCX0\">, select a destination and final orientation. `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW143587575 BCX0\">move_base<\/span><span class=\"NormalTextRun SCXW143587575 BCX0\">` will compute a global path and command the robot to reach the goal while avoiding obstacles.<\/span><\/span><span class=\"EOP SCXW143587575 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1318a74 elementor-widget elementor-widget-image\" data-id=\"1318a74\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"800\" src=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/8eca74dc-0bfe-46ae-862d-a6710bba1bcd.webp\" class=\"attachment-large size-large wp-image-2411\" alt=\"\" srcset=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/8eca74dc-0bfe-46ae-862d-a6710bba1bcd.webp 1024w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/8eca74dc-0bfe-46ae-862d-a6710bba1bcd-300x300.webp 300w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/8eca74dc-0bfe-46ae-862d-a6710bba1bcd-150x150.webp 150w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/8eca74dc-0bfe-46ae-862d-a6710bba1bcd-768x768.webp 768w, https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/8eca74dc-0bfe-46ae-862d-a6710bba1bcd-12x12.webp 12w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/>\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-c92ae44 elementor-widget elementor-widget-text-editor\" data-id=\"c92ae44\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t<h3><b style=\"color: inherit; font-family: inherit; font-size: 2rem; text-wrap-mode: initial;\"><span data-contrast=\"none\">\ud83d\udee0\ufe0f<\/span><\/b><b><span data-contrast=\"none\">Step 3: Troubleshooting<\/span><\/b><\/h3><p><strong><span class=\"TextRun SCXW166717024 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW166717024 BCX0\">The robot does not <\/span><span class=\"NormalTextRun ContextualSpellingAndGrammarErrorV2Themed SCXW166717024 BCX0\">move:<\/span><\/span><\/strong><\/p><p><span class=\"TextRun SCXW166717024 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW166717024 BCX0\"> Check if the `<\/span><span class=\"NormalTextRun SpellingErrorV2Themed SCXW166717024 BCX0\">move_base<\/span><span class=\"NormalTextRun SCXW166717024 BCX0\">` node is running and all topics are correct.<\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW166717024 BCX0\"><span class=\"SCXW166717024 BCX0\">\u00a0<\/span><\/span><\/p><p><span class=\"LineBreakBlob BlobObject DragDrop SCXW166717024 BCX0\"><br class=\"SCXW166717024 BCX0\" \/><\/span><strong><span class=\"TextRun SCXW166717024 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW166717024 BCX0\">Path not <\/span><span class=\"NormalTextRun ContextualSpellingAndGrammarErrorV2Themed SCXW166717024 BCX0\">found:<\/span><\/span><\/strong><\/p><p><span class=\"TextRun SCXW166717024 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW166717024 BCX0\"> Make sure the goal is reachable and not behind obstacles on the map.<\/span><\/span><span class=\"LineBreakBlob BlobObject DragDrop SCXW166717024 BCX0\"><span class=\"SCXW166717024 BCX0\">\u00a0<\/span><\/span><\/p><p><span class=\"LineBreakBlob BlobObject DragDrop SCXW166717024 BCX0\"><br class=\"SCXW166717024 BCX0\" \/><\/span><strong><span class=\"TextRun SCXW166717024 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW166717024 BCX0\">AMCL does not <\/span><span class=\"NormalTextRun ContextualSpellingAndGrammarErrorV2Themed SCXW166717024 BCX0\">converge:<\/span><\/span><\/strong><\/p><p><span class=\"TextRun SCXW166717024 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"auto\"><span class=\"NormalTextRun SCXW166717024 BCX0\"> Try slightly moving the robot or re-initialize pose using 2D Pose Estimate.<\/span><\/span><span class=\"EOP SCXW166717024 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-eae2940 e-con-full e-flex e-con e-parent\" data-id=\"eae2940\" data-element_type=\"container\" data-e-type=\"container\">\n\t\t\t\t<div class=\"elementor-element elementor-element-4db7ad4 elementor-bg-transform elementor-bg-transform-move-left elementor-cta--layout-image-left elementor-cta--mobile-layout-image-above elementor-cta--skin-classic elementor-animated-content elementor-widget elementor-widget-call-to-action\" data-id=\"4db7ad4\" data-element_type=\"widget\" data-e-type=\"widget\" data-widget_type=\"call-to-action.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-cta\">\n\t\t\t\t\t<div class=\"elementor-cta__bg-wrapper\">\n\t\t\t\t<div class=\"elementor-cta__bg elementor-bg\" style=\"background-image: url(https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/odometry-control-ros.webp);\" role=\"img\" aria-label=\"odometry control ros\"><\/div>\n\t\t\t\t<div class=\"elementor-cta__bg-overlay\"><\/div>\n\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-cta__content\">\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<h2 class=\"elementor-cta__title elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tWant to learn more?\t\t\t\t\t<\/h2>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__description elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t\tYou can find a detailed explaination of the autonomous navigation in  the \"Self Driving and ROS  - Learn by Doing! Odometry &amp;  Control\" course\t\t\t\t\t<\/div>\n\t\t\t\t\n\t\t\t\t\t\t\t\t\t<div class=\"elementor-cta__button-wrapper elementor-cta__content-item elementor-content-item\">\n\t\t\t\t\t<a class=\"elementor-cta__button elementor-button elementor-size-\" href=\"\" target=\"_blank\">\n\t\t\t\t\t\tEnroll Now\t\t\t\t\t<\/a>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t<div class=\"elementor-ribbon elementor-ribbon-right\">\n\t\t\t\t<div class=\"elementor-ribbon-inner\">\n\t\t\t\t\tDISCOUNT\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>In this tutorial, you will learn how to autonomously navigate a mobile robot in ROS1 using the `move_base` package for path planning and `amcl` for probabilistic localization on a prebuilt map. We will use a simulated robot (e.g., TurtleBot3) with a map previously generated using SLAM. \u00a0\ud83d\udcdd Required components ROS1 installed (e.g., Noetic on Ubuntu [&hellip;]<\/p>\n","protected":false},"author":5,"featured_media":2412,"comment_status":"closed","ping_status":"open","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[47,176,43],"tags":[180,179,66,74,182,181,110,100,178,71,73],"class_list":["post-2407","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-linux","category-ros","category-tutorials","tag-amc","tag-lbd","tag-learn-by-doing","tag-linux","tag-move_base","tag-nav","tag-navigation","tag-robot","tag-robot-operating-sistem","tag-ros","tag-ubuntu"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.2 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Navigation with move_base and AMCL (ROS) - Learn by Doing!<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/learnbydoing.dev\/es\/navigation-with-move_base-and-amcl-ros1\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Installing ROS 2 Jazzy on Ubuntu 24.04: Step-by-Step Tutorial\" \/>\n<meta property=\"og:description\" content=\"In this tutorial, you will learn how to autonomously navigate a mobile robot in ROS1 using the `move_base` package for path planning and `amcl` for probabilistic localization on a prebuilt map. We will use a simulated robot (e.g., TurtleBot3) with a map previously generated using SLAM. \u00a0\ud83d\udcdd Required components ROS1 installed (e.g., Noetic on Ubuntu [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/learnbydoing.dev\/es\/navigation-with-move_base-and-amcl-ros1\/\" \/>\n<meta property=\"og:site_name\" content=\"Learn by Doing!\" \/>\n<meta property=\"article:published_time\" content=\"2025-07-07T15:02:04+00:00\" \/>\n<meta property=\"article:modified_time\" content=\"2026-01-10T22:28:09+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/06\/Progetto-senza-titolo-14.webp\" \/>\n\t<meta property=\"og:image:width\" content=\"1920\" \/>\n\t<meta property=\"og:image:height\" content=\"1080\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/webp\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Escrito por\" \/>\n\t<meta name=\"twitter:data1\" content=\"\" \/>\n\t<meta name=\"twitter:label2\" content=\"Tiempo de lectura\" \/>\n\t<meta name=\"twitter:data2\" content=\"3 minutos\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\/\/learnbydoing.dev\/navigation-with-move_base-and-amcl-ros1\/#article\",\"isPartOf\":{\"@id\":\"https:\/\/learnbydoing.dev\/navigation-with-move_base-and-amcl-ros1\/\"},\"author\":{\"name\":\"\",\"@id\":\"\"},\"headline\":\"Navigation with move_base and AMCL (ROS)\",\"datePublished\":\"2025-07-07T15:02:04+00:00\",\"dateModified\":\"2026-01-10T22:28:09+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\/\/learnbydoing.dev\/navigation-with-move_base-and-amcl-ros1\/\"},\"wordCount\":270,\"publisher\":{\"@id\":\"https:\/\/learnbydoing.dev\/es\/#organization\"},\"image\":{\"@id\":\"https:\/\/learnbydoing.dev\/navigation-with-move_base-and-amcl-ros1\/#primaryimage\"},\"thumbnailUrl\":\"https:\/\/learnbydoing.dev\/wp-content\/uploads\/2025\/07\/Navigation-with-move_base-and-AMCL.webp\",\"keywords\":[\"amc\",\"lbd\",\"learn by doing\",\"Linux\",\"move_base\",\"nav\",\"navigation\",\"robot\",\"robot operating sistem\",\"ROS\",\"Ubuntu\"],\"articleSection\":[\"Linux\",\"ROS\",\"Tutorials\"],\"inLanguage\":\"es\"},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/learnbydoing.dev\/navigation-with-move_base-and-amcl-ros1\/\",\"url\":\"https:\/\/learnbydoing.dev\/navigation-with-move_base-and-amcl-ros1\/\",\"name\":\"Navigation with move_base and AMCL (ROS) - 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