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See this post:

In demo_turtlebot_mapping.launch:

-Set all "subscribe_scan" to false. This is optional though, you can keep the laser scan if you want.

-Change these lines:

<remap from="proj_map" to="/map"/> <!-- use projection map, use "grid_map" for version > 0.11.8 -->
<param name="Reg/Strategy" type="string" value="0"/> <!-- laser scan not used anymore for registration -->
<param name="Vis/MinInliers" type="string" value="20"/> <!-- default is 20 -->
<param name="Grid/FromDepth" type="string" value="true"/> <!-- For version > 0.11.8 only: Not required if subscribe_scan is false -->

See this post:

In demo_turtlebot_mapping.launch:

-Set all "subscribe_scan" to false. This is optional though, you can keep the laser scan if you want.

-Change these lines:

<remap from="proj_map" to="/map"/> <!-- use projection map, use "grid_map" for version > 0.11.8 -->
<param name="Reg/Strategy" type="string" value="0"/> <!-- laser scan not used anymore for registration -->
<param name="Vis/MinInliers" type="string" value="20"/> <!-- default is 20 -->
<param name="Grid/FromDepth" type="string" value="true"/> <!-- For version > 0.11.8 only: Not required if subscribe_scan is false -->