To take advantage of AMCL, we need to "tell" it to use our sensors. The following code should be added to nav2_params.amcl (a complete file is available in the archive by the link above):
amcl: ros__parameters: ... plugin: "nav2_amcl/AMCL" use_odometry: true # Odometry parameters odom_frame_id: "odom" odom_topic: "/odom" base_frame_id: "base_link" # Global frame global_frame_id: "map" # Laser parameters laser_frame_id: "laser" laser_topic: "/scan" use_scan_matching: True scan_matcher_translational_weight: 0.1 scan_matcher_rotational_weight: 0.2 # IMU parameters use_imu: True imu_frame_id: "imu" imu_topic: "/imu/data" # Camera parameters use_camera: True camera_frame_id: "camera" camera_topic: "/camera/image_raw"
As you can see, we are simply listing sensors and topics to use.