husky navigation [closed]

asked 2014-04-16 02:25:09 -0500

alex920a gravatar image

updated 2016-10-24 08:36:50 -0500

ngrennan gravatar image

Hello! I'm new to ROS and I'm trying to build a map with Husky robot. I've mounted on it a laserscan (modifying the URDF). When I try to visualize the map on rviz, it builds a wrong map. The odom frame is also moving. I'm using ubuntu 12.04 lts and ros hydro.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-12-20 20:19:04.704296


Could you expand on what you mean by "wrong map"? When you mean "odom frame is moving", with respect to what? What have you set as your fixed frame in rviz? (it should be /map)

Ryan gravatar image Ryan  ( 2014-04-17 15:32:01 -0500 )edit

If i set odom as a fixed frame and starting creating a map with gmapping, odom is moving respect of map. In particular, if I load the husky in a empty world, map is moving a little in respect of odom; instead, if I add any object the distance between the two frames changes a lot! (laserscan fault?)

alex920a gravatar image alex920a  ( 2014-04-17 21:37:41 -0500 )edit