/scan : Laser scan messages from the LIDAR (sensor_msgs/LaserScan).

/tf : Coordinate body transformations (tf/tfMessage).

/initialpose : The initial position and orientation of the robotic utilizing quaternions. (geometry_msgs/PoseWithCovarianceStamped) – RViz preliminary pose button publishes to this matter.

/map : The occupancy grid map created utilizing gmapping, Hector SLAM, or manually using a picture (nav_msgs/OccupancyGrid).

The amcl node will publish to the next topics:

ground

Web site

Wiki

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