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 | 1 | initial version |
I've tried quite a few ways of setting the parameters of base frame to run gmapping. I just missed the underscore.
>rosrun gmapping slam_gmapping scan:=scan _base_frame:=odom
I think with the urdf and setting the base_frame to odom, I fulfilled the tf requirements for gmapping. If there's anything I can find to optimize the map, I'll update the answer for the newcomers like me.
| | 2 | No.2 Revision |
I've tried quite a few ways of setting the parameters of base frame to run gmapping. I just missed the underscore.
>rosrun gmapping slam_gmapping scan:=scan _base_frame:=odom
I think with the urdf and setting the base_frame to odom, I fulfilled the tf requirements for gmapping. If there's anything I can find to optimize clean up the map, I'll update the answer for the newcomers like me.
| | 3 | No.3 Revision |
I've tried quite a few ways of setting the parameters of base frame to run gmapping. I just missed the underscore.
>rosrun gmapping slam_gmapping scan:=scan _base_frame:=odom
_base_frame:=base
I think with the urdf and setting the base_frame to odom, base, I fulfilled the tf requirements for gmapping. If there's anything I can find to clean up the map, I'll update the answer for the newcomers like me.
Edit: It was suppose to be _base_frame:=base, not odom as I had it before.
Here were some tips I found collectively from other ROS answers that helped me with my setup in a larger area with a hokuyo UTM-30LX.
1.Start near the corner of the room(if in a large empty room) and move slowly.
2.Use a launch file. Change the map_update_interval to around 30.
3.For the hokuyo I used, it had 270deg view, I made a mistake of trying to use all of the viewing angle. From another ROS answer post and the package page, I saw that its not stable and I think you would have to do some adjusting to the driver's angle resolution. It was best to use from -95 to 95 degree, or the defaults.
4.Set the maxUrange to the max distance your laser scanner is capable of.
Here is how the map turned out, which looks very good imo. http://i.imgur.com/73b4lkf.png
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