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I am running rosrun depthimage_to_laserscan depthimage_to_laserscan and the scan topic is published and when I rosbag record -o /scan /tf the scan topic is not been recorded and the map is not created. I am new to ros and also read thewiki page bit didn't understand how to do that any suggestion. I want to make a 2D map to implement localization.
Download the gmapping package sudo apt-get install ros-[version]-gmapping. Then I would suggest launching both nodes using a launch file like so:
<launch>
<!--- Depth image to laser scan -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" >
<param name="scan_height" value="3"/>
<param name="output_frame_id" value="base_link"/>
<remap from="image" to="camera/depth/image_rect_color" />
</node>
<!-- Maping Node -->
<node pkg="gmapping" type="slam_gmapping" name="gmapping_node" output="screen" >
<remap from="odom" to="your/odom/topic" />
</node>
</launch>
are you sure output_frame_id should be base_link or it should be camera_depth_frame
1.Launch the robot,kinect,depthimage_to_laserscan,gmapping. 2.Your tf tree shoud be map->odom->base_link->camera_link. 3.Then you can see the map in rviz.
Asked: 2016-10-25 01:09:26 -0500
Seen: 4,220 times
Last updated: Jan 01 '19
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Plz anyone...
Really? A bump after ~20 minutes? This is not a (slow)chat ..