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Problem with gmapping and tf topic

asked 2015-07-08 03:12:52 -0500

Flavio90 gravatar image

Hi all, i have this problem using the gmapping node. I'm trying to use gmapping to read data from a laser scanner and build a map . I know that gmapping needs two transformations, the first from map to odom, and the last from odom to base_link (which represents the movements of the robot, it's odometry, right?). I also know, reading its wiki page, that the gmapping node subscribes the /laser_scan topic (data from laser scanner) and the /tf topic (transformations). My problem is that the gmapping node itself publishes the /tf topic with the transformation from map to odom. So, how can I give the odom to base_link transformation to gmapping, if the /tf topic is already published??

Thanks a lot for your help, Flavio

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answered 2015-07-08 03:24:09 -0500

dornhege gravatar image

gmapping does NOT need the map -> odom transform. It produces that.

Giving the odom -> base_link transform to gmapping, when it is already providing another transform is no problem at all.

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So you mean that i should publish the transformation from odom to base_link in the same /tf topic which is published by gmapping?

Flavio90 gravatar image Flavio90  ( 2015-07-08 09:22:39 -0500 )edit

The TransformBroadcaster will do this automatically for you and that is completely fine.

dornhege gravatar image dornhege  ( 2015-07-08 10:02:52 -0500 )edit

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Asked: 2015-07-08 03:12:52 -0500

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Last updated: Jul 08 '15