Localisation Switching in runtime ROS2 [closed]

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Implementation considerations

1. High-Level Architecture
   Run both localizers in the system:
   amcl → coarse/global localization
   slam_localizer (e.g. slam_toolbox) → fine/docking localization

2. TF / Pose Switching
   Ensure only one source effectively drives map → odom at a time.

3. Switching Trigger
   Switching would be based region (geofence): robot enters a predefined docking zone (polygon/radius in map frame).

4. Pose Initialization
   When switching AMCL → SLAM:
   Use the current AMCL pose as the initial pose for SLAM localization.
   Wait until SLAM is stable before exposing its TF/pose to the rest of the system.

5. Nav2 Integration
   Nav2 always sees a single, consistent global frame (e.g. map).
   After a switch:
   Trigger a replan or clear costmaps if needed to handle small pose jumps.
   Keep controller paused until a valid pose from the new localizer is available.

Have anyone done this before or working on it? I want help to implement this on my turtlebot3 simulation. Give me suggestions and thank you in advance.

• unlut: I assume you have map of the initial area robot is starting, since you start your pose with AMCL. Then later when your robot explores a new unknown location you switch to SLAM until the map is obtained. What exactly is the question here?
• Brentspine: meta.stackoverflow.com/q/421831/16805423
• addie_2k4: right now i am using amcl for navigation, but when my robot goes in docking region i want to switch to slam localization for better accuracy. how this switching can be implemented in runtime?