gmapping without /odom
Hi
Is it possible to use gmapping without odometry information
In the Hector Slam tutorial it says if you do not require the use of a odom frame (for example because your platform does not provide any usable odometry) you can directly publish a transformation from map to base_link:
http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_frame" />
<param name="odom_frame" value="base_frame" />
Is it possible to do the same with gmapping?
however I try the same in the gmapping launch file and nothing works. The map initial generates but when i move the kinect (which is the body of the rover) it doesn't update the position of the kinect...
I thought gmapping would use some kind of 2D ICP with the laser scan, i don't see why you need odometry information, though it should help.
It RIVZ there is no transform from odom to base_frame so i presume gmapping just created an odom frame and didn't use the base_frame as the odom frame