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AMCL only operates with an a priori map, so it's not really appropriate for a situation where the map is constantly changing or being refined.

Does rviz's behavior change if you fill the map with free space instead of unknown space? It's possible that rviz is designed to ignore pixels marked as "unknown", but I'm not sure about that. Do you get any errors in rviz while attempting to show your map topic?

In standard usage, the odom->map transform is generated by either AMCL or Gmapping. Since you are using neither, you will have to publish this transform yourself from your SLAM node.

AMCL only operates with an a priori map, so it's not really appropriate for a situation where the map is constantly changing or being refined.

Does rviz's behavior change if you fill the map with free space instead of unknown space? It's possible that rviz is designed to ignore pixels marked as "unknown", but I'm not sure about that. Do you get any errors in rviz while attempting to show your map topic?

In standard usage, the odom->map transform is generated by either AMCL or Gmapping. Since you are using neither, you will have to publish this transform yourself from your SLAM node.node. See REP 105 for more details.