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How to publish roll/pitch data in Gmapping ?

asked 2014-03-10 07:35:12 -0500

Yuichi Chu gravatar image

updated 2014-03-10 23:39:43 -0500

How to publish the roll/pitch data in gmapping ?Thank you for your advices.

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Do you want gmapping to use pitch/roll or do you want to get pitch/roll estimates out of gmapping. In either case: gmapping is set up to be a 2D algorithm.

dornhege gravatar image dornhege  ( 2014-03-10 23:48:30 -0500 )edit

I use gmapping to create 2D map.But the ground is not flat.So I think maybe I need to publish roll and pitch and I want gmapping to use the data.I am confused about whether I should use a node to publish roll/pitch in some format like message or I only need to add pitch/roll to TF frames.

Yuichi Chu gravatar image Yuichi Chu  ( 2014-03-11 01:50:41 -0500 )edit

In other word, how can I let the gmapping know that there is roll/pitch data to use?Thank dornhege for your attention.Would you give me some advices?

Yuichi Chu gravatar image Yuichi Chu  ( 2014-03-11 01:54:00 -0500 )edit

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answered 2014-03-11 03:14:40 -0500

dornhege gravatar image

gmapping itself can't make use of roll/pitch for pose estimation. What you can do however as a minimum is encode this information implicitly in the tf that you provide for odom->laser. Gmapping will transform laser messages to the odom frame.

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Your answer helps a lot. I will have a try.Thank you very much!

Yuichi Chu gravatar image Yuichi Chu  ( 2014-03-11 04:34:26 -0500 )edit

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Asked: 2014-03-10 07:35:12 -0500

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Last updated: Mar 11 '14