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I don't know if you saw this question: [http://answers.ros.org/question/60523/can-not-create-a-map-with-gmapping/], maybe it can help.
Also I used an exploration node working with gmapping combined with hector_trajectory_server to keep the path of my robot, it was efficient to me but depends on what you want, here was my launchfile:
<launch>
<!-- dynamic map generation -->
<node name="gmapping_node" pkg="gmapping" type="slam_gmapping" respawn="false" >
<remap to="base_scan" from="scan"/>
<param name="odom_frame" value="odom_combined" />
<param name="map_update_interval" value="1" />
</node>
<!-- path -->
<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
<param name="target_frame_name" type="string" value="/map" />
<param name="source_frame_name" type="string" value="/base_link" />
<param name="trajectory_update_rate" type="double" value="0.5" />
<param name="trajectory_publish_rate" type="double" value="0.15" />
</node>
</launch>