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gmapping+depthimage_to_laser, Scan must contain angles from -x to x

asked 2015-10-29 04:54:00 -0500

stevej_80 gravatar image

Hello All,

Problem with depthimage_to_laserscan and gmapping:

I got my Asus Xtion Pro (no RGB) up and running on ROS Indigo and Ubuntu 14.04. Now, I try to create LaserScan messages from the depthimage and use it for Gmapping. What i do is: I launch the openni2.launch and then depthimage_to_laserscan node. I can see the visualization of the LaserScan under the /scan topic in Rviz perfectly. But when i modify and launch my gmapping launch file (which works fine with an actual lidar), i start getting tons of repeating errors:

[ERROR] [1446110574.405766241]: Scan message must contain angles from -x to x, i.e. angle_min = -angle_max

and of course gmapping does not work. Topics and everything are correct. It must be directly related to how depthimage_to_laserscan works. Could not figure it out myself,

Please help!

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answered 2015-10-29 07:07:04 -0500

stevej_80 gravatar image

updated 2015-10-29 13:36:09 -0500

I researched more and tried different suggested solutions and it turned out that the problem was being caused by a bug in the 1.3.7 gmapping release. thanks to @stevenwaslander answer, the fix for the problem that i explained in my question above, is as follows:

$ wget
$ cd ~/catkin_ws/src
$ tar xvf ../../ros-indigo-gmapping_1.3.8.orig.tar.gz   
$ mv ros-indigo-gmapping-1.3.8/ gmapping
$ catkin_make
$ sudo cp devel/lib/gmapping/slam_gmapping* /opt/ros/indigo/lib/gmapping/
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Asked: 2015-10-29 04:54:00 -0500

Seen: 603 times

Last updated: Oct 29 '15