Ask Your Question
0

gmapping and rplidar

asked 2015-06-12 09:29:25 -0600

osmancns gravatar image

updated 2015-06-12 09:30:25 -0600

hi friends.... I will not play a sample bag file. I couldnt solve gmapping with rplidar

how can ı build a map as best simple.

Can you give me a launch file for simple create a map with rplidar. I have rplidar node and gmapping nodes and laser_Scan _matchers tools.

I mean a lunch file like this.

<launch>

#### publish an example base_link -> laser transform ###########

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40"/>

#### start the laser scan_matcher ##############################

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">

<param name="fixed_frame" value = "odom"/>
<param name="max_iterations" value="10"/>

</node>

#### start rviz ################################################

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find laser_scan_matcher)/demo/demo_gmapping.rviz"/>

#### start gmapping ############################################

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">

<param name="map_udpate_interval" value="1.0"/>
<param name="maxUrange" value="5.0"/>
<param name="sigma" value="0.1"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.15"/>
<param name="astep" value="0.15"/>
<param name="iterations" value="1"/>
<param name="lsigma" value="0.1"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="1"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="1.0"/>
<param name="angularUpdate" value="0.5"/>
<param name="temporalUpdate" value="0.4"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="10"/>
<param name="xmin" value="-5.0"/>
<param name="ymin" value="-5.0"/>
<param name="xmax" value="5.0"/>
<param name="ymax" value="5.0"/>
<param name="delta" value="0.02"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.05"/>
<param name="lasamplestep" value="0.05"/>

</node>

</launch>

please help me....

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted
0

answered 2016-03-23 08:36:23 -0600

I don't know if you still need this, but your problem most likely has to do with differences between how RPLIDAR and general ROS frames. Take a look here and that should fix your problem.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2015-06-12 09:29:25 -0600

Seen: 726 times

Last updated: Mar 23 '16