SLAM Gmapping does not get a map

asked 2015-08-25 01:16:39 -0500

ktiwari9 gravatar image

updated 2015-08-25 02:59:57 -0500

Hi there, I am using SLAM Gmapping with a hokuyo lidar and I want to visualize an occupancy grid in rviz but I keep getting this warning
My tf tree is shown here: image description

Am I missing something here ? My launch file for gmapping is here.

Why can't i visualize my occupancy grid in rviz ?

My output from RQT console set to DEBUG level for slam gmapping says: When my laser topic is /scan why is slam gmapping adding messages to laser_front ? How can I fix this error ?

Please advise. P.S. I am working on ROS Hydro.

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do you see hokuyo scan messages on $ rostopic echo /scan ?

osmancns gravatar imageosmancns ( 2015-08-25 03:43:16 -0500 )edit

No and I know the reason I guess. My output from Debugging level of rqt console says:

ktiwari9 gravatar imagektiwari9 ( 2015-08-25 04:14:52 -0500 )edit

From RQT Console set to DEBUG is here

ktiwari9 gravatar imagektiwari9 ( 2015-08-25 04:15:13 -0500 )edit

So the problem is that the frame_id is being set to laser_front but in rviz i only have a laser_link or laser_scan_link frames as u can see in my tf tree. How can fix this ?

ktiwari9 gravatar imagektiwari9 ( 2015-08-25 04:16:21 -0500 )edit

change your frame_id in hokuyo launch file as laser_front to laser_link

osmancns gravatar imageosmancns ( 2015-08-25 05:34:39 -0500 )edit

Hey osmancns, I am not using a separate hokuyo node. I just added the hokuyo description into my robot urdf file and in there, there is nothing called a laser_front because this frame name does not show up in tf tree. Any other ideas ?

ktiwari9 gravatar imagektiwari9 ( 2015-08-25 06:20:57 -0500 )edit

you can review this simulate

osmancns gravatar imageosmancns ( 2015-08-25 07:29:54 -0500 )edit

I did see this one before but I still do not understand. In the launch file there is nothing about the laser frame_id and yet for my case, it is picking up the frame_id incorrectly as laser_front. I just dont get what part of the code is setting this incorrect frame id ?

ktiwari9 gravatar imagektiwari9 ( 2015-08-25 08:41:29 -0500 )edit