no map received, gmapping, velodyne hdl_32

asked 2019-06-11 14:16:30 -0500

nunuwin gravatar image

When I launch myrobot to generate map using velodyne lidar hdl-32 and gmapping slam, I received warning "no map received" in rviz and "waiting for map" in terminal. But I can see laserscan in rviz, so how can I check what is worng and how to fix it?

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We're going to need more info here. While I don't know your particular laser, most velodyne (that I know of) are 3D lasers, which is not going to be usable in GMapping by itself. For that, look for something like cartographer.

If you are going for 2D, then you should find a 2D slice of the 3D laser (something I'm sure someone knows how to do) and pass that to GMapping. But GMapping will also require a tf frame for odometry, which you will need to provide to it.

allenh1 gravatar imageallenh1 ( 2019-06-11 14:58:22 -0500 )edit

Thank you very much for your reply! I used velodyne-hdl32 in gazebo simulation and I want to use this for 2D map, and I publish both laserScan and Pointcloud. Moreover, I transform tf frame too. I attached my rivz photo and others. My rostopic list is /clicked_point, /clock, /cmd_vel, /gazebo/link_states,......, /imu, /map, /odom, /rosout, /rosout_agg, /scan, /scan_updates, /tf, /tf_static, /velodyne/scan, /velodyne_points,... like that. I will add these photos Please let me know, How can I attach these image in here?

nunuwin gravatar imagenunuwin ( 2019-06-11 23:56:27 -0500 )edit

I would like to update my question. Now I'm using is gazebo model velodyne hdl32 lidar. I have "no receive map data" is until now, I can't fix this error until now. I want to know is it need velodyne driver? If need how to use it? Now, I did not use it. So, error may be because to that or not?

nunuwin gravatar imagenunuwin ( 2019-06-25 08:50:55 -0500 )edit