Empty Map after rosrun map_server map_saver

asked 2013-11-15 09:50:31 -0600

RB gravatar image

updated 2013-11-15 16:40:27 -0600

I have installed ROS fuerte on Ubuntu 10.04 and using USARSim simulator on windows 7

64 bit PC. And using UsarsimRos from git clone git://git.assembla.com/usarsim.git

command list

  1. Start-up roscore

  2. rosbag record -O mylaserdata.bag /lms200 /tf

INFO 1383223128.547387984: Subscribing to /lms200

INFO 1383223128.548429961: Subscribing to /tf

INFO 1383223128.549742465: Recording to mylaserdata.bag.

WARN 1383223128.549933629: Less than 5GB of space free on disk with mylaserdata.bag.active

  1. Start-up USARSim on the windows pc environment started in usarsim

  2. Start-up the ROS interface, roslaunch usarsim_inf usarsim.launch(robot placed in environment)

5.Run the tele-op keyboard which should allow you to drive the robot around.:

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

6.$ rosrun gmapping slam_gmapping scan:=lms200 _odom_frame:=odom

  1. rosbag play mylaserdata.bag

successfully completed.

  1. rosrun map_server map_saver


Before map_server utility begin I have captured the screenshots Initial Position rviz

image description

Laser scan is ok

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Odometry is wrong initially

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Odometry is corrected as below

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TF status warning no transform from /GndTruth to /map

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TF tree

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map.yaml file

image: map.pgm

resolution: 0.050000

origin: [-100.000000, -100.000000, 0.000000]

negate: 0

occupied_thresh: 0.65

free_thresh: 0.196

Image size is 15.3 MB

Thanks in advance

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