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can't run gmapping scan

asked 2015-02-14 15:36:18 -0500

Bardia gravatar image

I am following the tutorial here to make a simple map from already prepared data:

http://wiki.ros.org/slam_gmapping/Tut...

however, I get stuck at this step:

rosrun gmapping slam_gmapping scan:=base_scan

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.

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answered 2015-02-16 06:59:59 -0500

RND gravatar image

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.

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answered 2015-02-14 23:24:29 -0500

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...).

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Asked: 2015-02-14 15:36:18 -0500

Seen: 341 times

Last updated: Feb 16 '15