set initial pose for amcl

[k-okada]

No description provided.

[wjwwood]

@k-okada thanks for the pr. I don't think the initial position was correct though, so I updated it when I merged. Please have a look at the indigo-devel branch if you have a chance to see if you agree.

[k-okada]

Thanks, I should have more detail description in this pr, I'm testing this with navigation_stage move_base_amcl_2.5cm.launch and maybe you're using roslaunch navigation_stage move_base_amcl_10cm.launch, they have different initial robot position.

I have looked at both cases and turned out that initial pose of 10cm is a little bit tough, there are many obstacles and the robot can not get out of them. So I choose initial pose for 2.5cm.

In #10, I have updated as follows;

• set same stage initial pose for 2.5cm, 5cm, 10cm
• set appropriate amcl inital pose for them

2.5cm stage with this PR

Close look of 10cm stage

[wjwwood]

You're right, I was using the 10cm version. I'll have a look at #10, thanks!