Trying to do some mapping with a corobot Explorer robot. I have here the terminal output: hmt@hmt-snowball:~/roscorobot-code/Corobot/corobot_teleop$ rostopic list /PTZ/camera_info /PTZ/image_raw /PTZ/image_raw/compressed /PTZ/image_raw/compressed/parameter_descriptions /PTZ/image_raw/compressed/parameter_updates /PTZ/image_raw/theora /PTZ/image_raw/theora/parameter_descriptions /PTZ/image_raw/theora/parameter_updates /PhidgetMotor /REAR/image_raw /bumper_data /camera/set_state /camera/set_videomode /camera_info /diagnostics /fix /gripper_data /hokuyo/parameter_descriptions /hokuyo/parameter_updates /image_raw /imu_data /infrared_data /kinect/depth/image_raw /kinect/rgb/image_raw/compressed /odometry /pantilt /phidget_info /position_data /power_data /rosout /rosout_agg /scan /sonar_data /spatial_data /ssc32_info /takepicture /tf hmt@hmt-snowball:~/roscorobot-code/Corobot/corobot_teleop$ rosbag record -O mydata position_data tf scan odometry hmt@hmt-snowball:~/roscorobot-code/Corobot/corobot_teleop$ rosbag play mydata.bag Waiting 0.2 seconds after advertising topics... done.
Hit space to toggle paused, or 's' to step.
[RUNNING] Bag Time: 1328743924.828030 Duration: 166.118149 / 332.198020
So, as can be clearly deciphered, I recorded a bag file with the /tf and /scan topics. So, how do I use the gmapping utility to generate a map by playing the bag file?
Thanks, -Hunter A.
Sorry guys, the issue was not any gmapping (Shocking, right?). It was the robot. The driver is messed up beyond my ability to repair. So, the company is fixing it.
Thanks anyway for your quick responses, -Hunter A.
As Stefan said, you can look at the well made tutorial. Also if you are interested you can take a look at the launch file named gmapping.launch in the package corobot_state_tf, that is made to run gmapping on a Corobot. It may help you to understand how to launch gmapping. You should even be able to record the map in your bag file by launch this launch file.
Asked: 2012-02-08 15:42:39 -0500
Seen: 320 times
Last updated: Mar 16 '12