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I found a work-around to solve this:

Cartographer ROS lets you change the .lua file in ~slam/config to:

num_laser_scans = 0, { instead of = 1, } num_point_clouds = 1, { instead of = 0, }

So this works if you correct the laser scan scan-lag, converting it to a PointCloud2 (e.g with "transformLaserScanToPointCloud"), and publishing this in a topic called "/point2" for SLAM Cartographer ROS to subscribe to.

I do not now have a "kink" in my "walls" when I approach them, and more importantly the whole map is much more stable with the Turtlebot3 spinning or turning.

I found a work-around to solve this:

Cartographer ROS lets you change the .lua file in ~slam/config to:

num_laser_scans = 0, { instead of = 1, } num_point_clouds = 1, { instead of = 0, }

So this works if you correct the laser scan scan-lag, converting it to a PointCloud2 (e.g with "transformLaserScanToPointCloud"), and publishing this in a topic called "/point2" "/points2" for SLAM Cartographer ROS to subscribe to.

I do not now have a "kink" in my "walls" when I approach them, and more importantly the whole map is much more stable with the Turtlebot3 spinning or turning.