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I'm not sure what you try to achieve. Build one single map from two laser scanners? I don't think that gmapping node in ros can handle that (look here for example: http://answers.ros.org/question/28514/multiple-robots-with-slam_gmapping/ )

Otherwise, if you just want to use the cpu-power of a different computer to process the laserscans from the robot (which has only a slow cpu, maybe), you can adjust the ROS_MASTER_URI on one of the computers and run only one master. Then the setup is just the normal setup, i.e. remap the laser topic on which the driver of the laserscanner publishes so that gmapping listens to it and so on...

As an alternative to the ROS_MASTER_URI you can try http://www.ros.org/wiki/master_sync_fkie, best in combination with node_manager_fkie (there you only need to press one button to enable the sync).

I'm not sure what you try to achieve. Build one single map from two laser scanners? I don't think that gmapping node in ros can handle that (look here for example: http://answers.ros.org/question/28514/multiple-robots-with-slam_gmapping/ )). So you would need to write a new node with a different mapping approach anyway.. in that node you can then register to multiple laser_scan topics, easily. :)

Otherwise, if you just want to use the cpu-power of a different computer to process the laserscans from the robot (which has only a slow cpu, maybe), you can adjust the ROS_MASTER_URI on one of the computers and run only one master. Then the setup is just the normal setup, i.e. remap the laser topic on which the driver of the laserscanner publishes so that gmapping listens to it and so on...

As an alternative to the ROS_MASTER_URI you can try http://www.ros.org/wiki/master_sync_fkie, best in combination with node_manager_fkie (there you only need to press one button to enable the sync).