ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

1

Bag file with Karto

nav2d_karto

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

kursatufuk
21 ●4 ●5 ●5

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...

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

1

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

flag of Germany

12390 ●32 ●193 ●173 https://github.com/mgruhler

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...

edit flag offensive delete link

Comments

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 ( 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 ( 2015-12-10 04:12:53 -0500 )edit

Thanks mig!

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

Question Tools

1 follower

Stats

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

Seen: 154 times

Last updated: Dec 09 '15

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2