gmapping using segbot [closed]
I have a hokuyo mounted on segway RMP 200. I was able to get a reasonably good map with gmapping using the data published using the hokuyo and odometry published by the segway.
Eventually I would like to use the Segbot navigation algorithm. Hence I then tried bringing up the segbot tf tree before creating the bag. This time however, I was not able to get a good map.
roslaunch segbot_bringup segbot_hokuyo.launch & roslaunch turtlebot_teleop logitech_segbot.launch & rosbag record -O segbotdata /scan /tf
roscore rosparam set use_sim_time true rosrun gmapping slam_gmapping scan:=scan _odom_frame:=odom rosbag play --clock gmapping_data.bag
Is there anything I am missing?
There is nothing reproducable about this question for us to help you debug.