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How can I create a map by using gmapping and a Hokuyo-Scanner?

asked 2015-02-18 09:53:59 -0600

Twista3579 gravatar image


i have a Hokuyo-Scanner (UTM-30LX-EW) and i would like to create a 2D-Map with gmapping and visualize this in realtime with Rviz. Can anyone tell me what the best way is to do this?

my Steps are: $ roscore $ rosrun urg_node urg_node _ip_address:="" scan:=base_scan $ rosrun gmapping slam_gmapping scan:base_scan $ rosrun rviz rviz --> add map --> set topic to "map" --> set fixed frame to "map"

Rviz shows a massage "no map received!"

Is there any simple way to create and view a map by using Hokuyo-Scanner over Ethernet? or what do i wrong?

thanks and best regards

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Do you have odometry?

dornhege gravatar image dornhege  ( 2015-02-18 10:02:00 -0600 )edit

No, i have only the scanner

Twista3579 gravatar image Twista3579  ( 2015-02-18 10:18:22 -0600 )edit

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answered 2015-02-18 10:25:37 -0600

dornhege gravatar image

Gmapping requires odometry. Check out hector_slam.

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Asked: 2015-02-18 09:52:13 -0600

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Last updated: Feb 18 '15