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It seems like gmapping is not making a map. I would check to see if it is printing any messages, and that the inputs for it are correct. If you are using a velodyne, you will need to convert the pointcloud to a laserscan so that gmapping can understand it.

It seems like gmapping is not making a map. I would check to see if it is printing any messages, and that the inputs for it are correct. If you are using a velodyne, you will need to convert the pointcloud to a laserscan so that gmapping can understand it.

Update

It seems like you have a few problems:

  • You're telling gmapping to use the /base_scan topic, but it doesn't exist. You should probably tell it to use the /scan topic instead. (although I still can't tell that the topic types match. You have custom packages, so you should check that they're publishing sensor_msgs/LaserScan )
  • Gmapping is showing a lot of TF errors; this usually indicates some problem with your setup, and can result in a bad map. I suspect you left gazebo running while you were trying to run gmapping, and the two sources of similar TF data are confusing it. When you run gmapping to build the map, you should make sure that there are no other nodes running.
  • You should check that the TF frame used by gmapping is published by your robot. The tutorial indicates that the odom_combined frame isn't used by most robots.

You also listed two rosbag record commands, but didn't say which bag file you were playing back. I assume you get the same results from both?