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Bag file with Karto

asked 2015-12-06 15:32:22 -0500

kursatufuk gravatar image

Hi friend.

I have a bag file and I run this bag file with gMapping, without any problem. Now, I want to run(autonom) this same bag file with KartoMapping(nav2d_karto). So, how can I do this?

Thanks for your help...

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answered 2015-12-09 13:06:53 -0500

mgruhler gravatar image

The same as with gmapping. Create a launch file (take care about topic remappings), configure karto (take care about the frame ids), and go.

Afaik, the only thing karto needs is a laser scan and the tf from odom to base_link (or whatever you configure it to be)... So the exact same thing as gmapping...

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Hey mig! You are really good man.

I glanced /karto_out topic and MultiMapper.cpp. So MultiMapper.cpp so complex. I didn't understand methods :)

What did you mean "configure karto"? Add or remove some code to the MultiMapper.cpp? Or you mean only tf transform?

kursatufuk gravatar image kursatufuk  ( 2015-12-09 19:42:40 -0500 )edit

well, there are parameter/config files (yaml files). This is the configuration. Check out the example launch and config files here

mgruhler gravatar image mgruhler  ( 2015-12-10 04:12:53 -0500 )edit

Thanks mig!

kursatufuk gravatar image kursatufuk  ( 2015-12-13 20:06:09 -0500 )edit

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Asked: 2015-12-06 15:30:39 -0500

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Last updated: Dec 09 '15