can't run gmapping scan
I am following the tutorial here to make a simple map from already prepared data:
http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData
however, I get stuck at this step:
rosrun gmapping slamgmapping scan:=basescan
It takes forever, and does not finish. When I abort the process, I see the following on the screen:
virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree
I am new to ROS and gmapping, and would appreciate any help here.
Asked by Bardia on 2015-02-14 16:36:18 UTC
Answers
The rosrun gmapping
command is not intended to finish. It is waiting for laser scan messages and will not begin producing a map estimate until you proceed to the next step of the tutorial (rosbag play
...).
Asked by slivingston on 2015-02-15 00:24:29 UTC
Comments
Make sure that you are subscribing to the proper laser scan topic since not all laser drivers subscribe to the topic /base_scan. I run sicktoolbox_wrapper laser driver that subscribes the laser readings on the topic /scan rather than /base_scan.
Asked by RND on 2015-02-16 07:59:59 UTC
Comments