Gmapping for Building a Map
Hello,
I am trying to use gmapping package for building a map.
My tf tree is complete: map --> odom --> robot/base_footprint --> robot /base_link --> robot/laser
map --> odom
is broadcast by /slam_gmapping
and odom --> robot/base_footprint
is broadcast by /ekf_localization
At the beginning I was getting the following warning message:
MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information
I set the DEBUG mode in rqt, and I got the following message:
MessageFilter [target=odom ]: Added message in frame laser at time 1414977417.595, count now 5
using this therad. I set rosparam set use_sim_time true
, and the warning message disappeared, but the DEBUG mode is still showing the message above.
Nothing is published to /map
topic.
Laser is published to robot/scan
I am not sure if I have to set the frame id for my laser which is robot/laser
or not. gmapping does not seem to have such a parameter, but I have set
<param name="base_frame" value="robot/base_footprint"/>
<param name="odom_frame" value="odom"/>
I have also set in my launch file:
<arg name="scan_topic" default="robot/scan" />
<remap from="scan" to="$(arg scan_topic)"/>
Any thoughts?