Hi angtzewern,
The yaml
file is good place to set the initial point.
The robot starting point should be as close to as possible to the defined initial point. Amcl
performance depends on the accuracy of this setup.
To dynamically set new initial point you could use initialpose
topic with message geometry_msgs/PoseWithCovarianceStamped
. When message is published on this topic, amcl
restarts localization from this point.
Regards,
Łukasz