How to show laser scan map over static environment map

asked 2015-08-06 22:03:56 -0600

ktiwari9 gravatar image

updated 2015-08-06 22:04:33 -0600

Hi there, I am using the nav2d_tutorials for ROS Hydro in order to simulate autonomous navigation and obstacle avoidance for a Pioneer P3dx robot. So far, in the tutorial 2 they show a static world map and in tutorial 3 they show map generated by laser scans. I want to be able to visualize the laser scans on top of the static world map so that I can be sure that the generated map is correct. I tried simply combining their launch files but it doesnt work. I get the static map at step 1, but as soon as I set the 2d Goal pose in Rviz I only see the laser scan map. What am I missing ? My final launch file is attached below :

<launch>

<!-- Some general parameters -->
<param name="use_sim_time" value="true" />
<rosparam file="$(find nav2d_tutorials)/param/ros.yaml"/>

<!-- Start Stage simulator with a given environment -->
<!-- <node name="Stage" pkg="stage_ros" type="stageros" args="$(find nav2d_tutorials)/world/tutorial.world"> -->
<node name="Stage" pkg="stage_ros" type="stageros" args="$(find auto_nav_sim)/world/auto_nav.world">
    <param name="base_watchdog_timeout" value="0" />
</node>


<!-- Load the environment map in the map_server -->
<node name="MapServer" pkg="map_server" type="map_server" args="$(find auto_nav_sim)/world/static_world.yaml" respawn= "true"/>


<!-- Start the Operator to control the simulated robot -->
<node name="Operator" pkg="nav2d_operator" type="operator" >
    <remap from="scan" to="base_scan"/>
    <rosparam file="$(find nav2d_tutorials)/param/operator.yaml"/>
    <rosparam file="$(find auto_nav_sim)/param/costmap.yaml" ns="local_map" />
</node>

<!-- Start Mapper to genreate map from laser scans -->
<node name="Mapper" pkg="nav2d_karto" type="mapper">
    <remap from="scan" to="base_scan"/>
    <rosparam file="$(find nav2d_tutorials)/param/mapper.yaml"/>
</node>

<!-- Start the Navigator to move the robot autonomously -->
<node name="Navigator" pkg="nav2d_navigator" type="navigator">
    <rosparam file="$(find nav2d_tutorials)/param/navigator.yaml"/>
</node>

<node name="GetMap" pkg="nav2d_navigator" type="get_map_client" />
<node name="Explore" pkg="nav2d_navigator" type="explore_client" />
<node name="SetGoal" pkg="nav2d_navigator" type="set_goal_client" />

<!-- Pioneer model for fancy visualization -->
<!-- Comment this out if you do not have the package 'p2os' available! -->
<include file="$(find p2os_urdf)/launch/pioneer3at_urdf.launch" />

<!-- RVIZ to view the visualization -->
<node name="RVIZ" pkg="rviz" type="rviz" args=" -d $(find auto_nav_sim)/param/auto_nav.rviz" />

</launch>

Please advise.

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