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gmapping pacakage Overlaying with catkin workspaces

asked 2014-01-22 03:12:36 -0500

bvbdort gravatar image

updated 2014-01-28 17:19:07 -0500

ngrennan gravatar image


I have installed ROS groovy version. I want to do changes in gmapping.

Gmapping is using libararies from openslam_gmapping, So i have cloned slam_gmapping and openslam_gmapping separately and built them.

But when i run launch file to run gmapping , i am getting below error

ERROR: cannot launch node of type [gmapping/slam_gmapping]: can't locate node [slam_gmapping] in package [gmapping]

launch file :

<launch> <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" respawn="false" output="screen">   
  <param name="odom_frame" value="odom"/>
  <param name="map_update_interval" value="0.1"/>
  <param name="maxUrange" value="69"/>
  <param name="maxRange" value="71"/>
  <param name="sigma" value="0.05"/>
  <param name="kernelSize" value="1"/>
  <param name="lstep" value="0.05"/>
  <param name="astep" value="0.05"/>
  <param name="iterations" value="5"/>
  <param name="lsigma" value="0.075"/>
  <param name="ogain" value="3.0"/>
  <param name="lskip" value="0"/>
  <param name="srr" value="0.01"/>
  <param name="srt" value="0.02"/>
  <param name="str" value="0.01"/>
  <param name="stt" value="0.02"/>
  <param name="linearUpdate" value="0.2"/>
  <param name="angularUpdate" value="0.3"/>
  <param name="temporalUpdate" value="0.1"/>
  <param name="resampleThreshold" value="5"/>
  <param name="particles" value="10"/>
  <param name="xmin" value="-5.0"/>
  <param name="ymin" value="-5.0"/>
  <param name="xmax" value="5.0"/>
  <param name="ymax" value="5.0"/>
  <param name="delta" value="0.05"/>
  <param name="llsamplerange" value="0.01"/>
  <param name="llsamplestep" value="0.01"/>
  <param name="lasamplerange" value="0.005"/>
  <param name="lasamplestep" value="0.005"/>
  <remap from="scan" to="laserscan"/>

How to do code changes to openslam_gmapping


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Do you mean with "but it was from ros stack not the package which i cloned,did changes and built." that a copy of gmapping you installed with apt-get is being executed and not the copy you cloned from source?

BennyRe gravatar image BennyRe  ( 2014-01-22 04:25:31 -0500 )edit
bvbdort gravatar image bvbdort  ( 2014-01-23 03:36:06 -0500 )edit

If you get the error above I'm pretty sure you have NOT built it. Also IIRC the gmapping package does download gmapping itself during the build process.

dornhege gravatar image dornhege  ( 2014-01-23 03:39:38 -0500 )edit

@dornhege i have cloned and build the slam_gmapping cloned from

bvbdort gravatar image bvbdort  ( 2014-01-23 03:46:07 -0500 )edit

Did you correctly overlay these two packages? Here's the tutorial:

BennyRe gravatar image BennyRe  ( 2014-01-23 03:59:03 -0500 )edit

@BennyRe i followed as tutorial i was able to buid and roscd is working fine but when i run from "roslaunch gmapping slam_gmapping_pr2.launch" i am getting error as mentioned in question.

bvbdort gravatar image bvbdort  ( 2014-01-23 04:35:22 -0500 )edit

Does your binary exist? check <your catkin="" ws="">/devel/lib/gmapping

BennyRe gravatar image BennyRe  ( 2014-01-23 05:01:00 -0500 )edit

@BennyRe yes binary exists in /home/overlay_ws/slam_gmapping/devel/lib/gmapping

bvbdort gravatar image bvbdort  ( 2014-01-23 05:05:44 -0500 )edit

1 Answer

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answered 2014-01-24 00:48:40 -0500

dornhege gravatar image

If you have two different workspaces sourcing either one will replace the other fully.

If you want both together you can either merge all packages in one workspace or overlay one workspace with another.

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Thanks, it worked after putting slam_gmapping, openslam_gmapping in mypackage/src/ and overlay mypackage.

bvbdort gravatar image bvbdort  ( 2014-01-24 02:46:13 -0500 )edit

bvb, I want to do the same thing you are, but I am uncertain how to get setup the openslam_gmapping sources so they build and are recognized as a ROS package. will the "find_packag(catkin REQUIRED nav_msgs openslam_gmapping roscpp rostest tf)"in CMakeLists.txt just work?

gershon gravatar image gershon  ( 2014-01-29 08:18:55 -0500 )edit

@gershon i did git clone for gmapping and openslam_gmapping inside /src folder of my package. This tutorial is helpful.

bvbdort gravatar image bvbdort  ( 2014-01-29 10:10:58 -0500 )edit

Aha! I see now. The only link to source from the slam_gmapping page takes me to an external site that lists the code in a svn repository. Now I think I see what you mean. I did find the openslam_gmapping source on git. Thanks!

gershon gravatar image gershon  ( 2014-01-29 13:24:57 -0500 )edit

@bvbdort Can you please provide some clarification? I am having the same problem, and the Workspace Overlay Tutorial isn't helping me. Thanks!

davidgitz gravatar image davidgitz  ( 2015-05-14 21:29:54 -0500 )edit

@davidgitz can you tell me what is the exact problem.

bvbdort gravatar image bvbdort  ( 2015-05-15 02:47:46 -0500 )edit

@bvbdort I don't want to hijack this thread but I think my problem is identical. I have done a git clone for the slam_gmapping and openslam_gmapping and put in: ~/catkin_ws/src Then I did: source /opt/ros/groovy/setup.bash and source ~/catkin_ws/devel/setup.bash and get the same error as the OP.

davidgitz gravatar image davidgitz  ( 2015-05-18 21:43:04 -0500 )edit

your procedure is correct, did you build, if yes check binaries in catkin_ws/devel/lib

bvbdort gravatar image bvbdort  ( 2015-05-18 23:06:59 -0500 )edit

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Asked: 2014-01-22 03:12:36 -0500

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Last updated: Jan 24 '14