Warning "No map received" occurs, when trying to visualize map in rviz [closed]

asked 2014-06-30 04:57:31 -0600

m.hoev
58 ●4 ●6 ●11

Hello,

i am trying to visualize a map in rviz using slam_gmapping on my youbot. When adding the display Map to rviz and choosing map as topic the warning "No map received" occurs. I can visualize the sensor data in rviz by adding the display laser scan but it does not create a map. I searched for this error in ros answers but could not find an answer fixing my problem.

The ROS_MASTER_URI is set to my youbot: ROS_MASTER_URI=http: //Jakobs-youBot:11311/

My tf tree is map -> odom -> base_footprint -> scan.

My laser scan topic is scan.

I am starting slam_gmapping with

$ rosrun gmapping slam_gmapping scan:=base_scan

and do not get any output after starting it. Is this supposed to be like that?

I am using a youbot with ubuntu 12.04 and ROS hydro. My the laser i am using is a hokuyo laser.

I really do not have any idea what i am doing wrong. If anyone can help me, i would really appreciate it. If you need any more information, please let me know.

Thanks a lot.

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Closed for the following reason the question is answered, right answer was accepted by m.hoev
close date 2014-08-05 05:06:44.999719

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answered 2014-06-30 05:35:46 -0600

dornhege

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If your laser topic is scan you should not add the remapping scan:=base_scan. This would tell gmapping that the laser topic is base_scan.

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when using the remapping i do not get any warnings in my terminal. When not adding it i get the warning: Failed to compute laser pose, aborting initialization ("base_link" passed to lookupTransform argument target_frame does not exist. )

m.hoev ( 2014-07-05 08:22:26 -0600 )edit

1

Good! This mean that it received a scan now. Your TF setup seems to be missing something. You need to check if the mentioned frames exist or give the correct ones as parameters to gmapping.

dornhege ( 2014-07-05 09:46:38 -0600 )edit

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Yes, that helped a lot. Tanks. I wrote a launch file, that uses my parameters.

m.hoev ( 2014-08-05 04:58:43 -0600 )edit

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answered 2014-08-05 05:00:01 -0600

m.hoev
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My gmapping.launch file that solved the problem:

<launch>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <rosparam>
      odom_frame: odom
      map_update_interval: 0.5
      maxUrange: 30.0
      maxRange: 60.0
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      linearUpdate: 0.5
      angularUpdate: 0.436
      temporalUpdate: -1.0
      resampleThreshold: 0.5
      particles: 80
      xmin: -1.0
      ymin: -1.0
      xmax: 1.0
      ymax: 1.0
      delta: 0.025
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005
      base_frame: base_footprint
    </rosparam>
  </node>
</launch>

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Warning "No map received" occurs, when trying to visualize map in rviz [closed]

Closed for the following reason the question is answered, right answer was accepted by m.hoev
close date 2014-08-05 05:06:44.999719

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Warning "No map received" occurs, when trying to visualize map in rviz [closed] edit

Closed for the following reason the question is answered, right answer was accepted by m.hoev close date 2014-08-05 05:06:44.999719

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Warning "No map received" occurs, when trying to visualize map in rviz [closed]

Closed for the following reason the question is answered, right answer was accepted by m.hoev
close date 2014-08-05 05:06:44.999719