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How to build a map on rviz from laser scan

I'm using a SICK laser scan under ROS. When i run the node, I can see the /scan topic from rostopic and I can also display the scan data under RVIZ by selecting /laser as fixed frame.

Now, I would like to build a 2-D map of my room under Gazebo. I would like to move the laser sensor around my room and to build a map.

I tried to find some tutorial on google, but I wasn't able to find any good document. Can you help me, please?

I think should specify the room frame as fixed and the laser frame as non-static, but I don't know how to do this.

Asked by Marcus Barnet on 2016-05-16 12:21:25 UTC

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Answers

You will need to use the Hector SLAM node. Tutorial: http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot

Asked by billy on 2016-05-16 12:33:01 UTC

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thank you for the tip! So, should I use the "use without odom frame" option as specified in the tutorial? How do I have to manage the laser tf and frame?

Asked by Marcus Barnet on 2016-05-16 12:51:58 UTC

That is the cool part about Hector mapping, no odom required. As to managing the laser tf: http://wiki.ros.org/laser_drivers. You're going to have to sit down and do some reading.

Asked by billy on 2016-05-16 21:24:09 UTC

I tried to follow the tutorial, I launched roslaunch hector_slam_launch tutorial.launch and in RVIZ, I select /laser as fixed frame in order to see laser data on the map but all points are referred to laser frame and so I cant build the map if I move the laser.

Asked by Marcus Barnet on 2016-05-17 12:48:00 UTC

I get this error: No tf data. Actual error: Fixed Frame [laser] does not exist. If I specify /map as static frame, then the laser values disappear from the grid. Can you help me to solve this problem? In map it says: No transform from [map] to [laser]

Asked by Marcus Barnet on 2016-05-17 12:50:37 UTC

The hector_slam_launch tutorial.launch works with prerecorded rosbag files. In your case some modifications are required. have a look at this project hector_slam_example. In launch folder you will find hector_hokuyo.launch file, modify the hokuyo part with SICK sensor initialization.

Asked by gp on 2016-05-24 01:51:16 UTC

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I test the code is very excellent. but as a fresh ,I am not know that how to save the image ? I use the command rosrun map_server map_saver -f my_map but I only get the wait without end, I use Ctrl+Alt + c to shut down the terminal, but I can not get anyting. I need help to solve the quenstion

Asked by ligang on 2016-05-30 03:51:03 UTC

if node "hector_trajectory_server" is running, you can use this command to save tiff map

rostopic pub syscommand std_msgs/String "savegeotiff"

for more details follow this tutorial last step is for saving map.

Asked by gp on 2016-05-30 04:17:56 UTC