Trying to a build a map from sensor data (Gmapping)
Hello,
I am using ROS Kinetic and I am trying to use a hokuyo laser sensor to a build a map from. I have seen the gmapping package, but I have some questions regarding this. As I understand:
- I will use the messages (Type: sensor_msgs/LaserScan) from the /my_robot/laser/scan topic.
- I need to use the required tf for that. Could someone explain to me what does this mean ? Should I add the tf at my URDF code or follow this tutorial?
- After that I will
rosrun gmapping slam_gmappingand from the data I will get from the sensor, I will build a map at nav_msgs/OccupancyGrid . - I will visualize the map on rviz, after adding by topic /map.
Have I understood correctly the sequence of steps I need to follow to complete the building of the map or I am missing something?
What did you use to as a driver for your laser? I used urg_node on ros indigo but that package is not available yet on kinetic?
I wasn't using the actual sensor when I did the question, but a urdf model of the sensor. Now I am using the rplidar, which has a relevant package regarding the driver of the sensor. For your case, I would suggest trying to find a node for your sensor type.
I cannot help you further, because in real life I am not using a hokuyo sensor, but if you search it, I don't believe you will meet an issue about the driver.
Good luck !:)