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how to create a 2D map from laser scan data

asked 2016-01-23 12:03:17 -0600

David John gravatar image

updated 2016-02-19 10:26:07 -0600

Hi all, I'm new to ROS. I'm using ROS INDIGO and kinect for my project.I want to create a map from the laser scan data without having odometry data .I converted the depth image to laser scan data.Then how can I create a map using Gmapping for the hand held kinect using this laser scan data?

edited question. i used hectorslam and there is some problem with tf. using rosrun tf view_frames i got image description and this is my laaunch file for depthimage_to_laserscan kinect.launch


<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">

<remap from="image" to="/camera/depth_registered/image_raw"/>


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answered 2016-01-23 12:11:27 -0600

jseal gravatar image

Trying looking into hector_mapping. It will build you a map from laser scans and doesn't require odometry data.

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thank you worked for me.Is there any other method using gmapping to do the same.?I read that there is another method using gmapping with laser_scan_matcher. I tried to install it but i was not able to do that.Could you please help me to install this package?

David John gravatar image David John  ( 2016-01-24 02:46:07 -0600 )edit

I'm not sure. If you couldn't get laser_scan_matcher to install I would try asking a question with the problem.

jseal gravatar image jseal  ( 2016-01-24 18:58:17 -0600 )edit

Hi sir,i am able to get a 2d map with hectorslam using turtlebot package.But now when i am doing it with real kinect I'am getting an error` "[ WARN] [1453709644.419967908]: No transform between frames /map and scanmatcher_frame available after 20.001889 seconds of waiting."'sir please help.

David John gravatar image David John  ( 2016-02-03 08:52:00 -0600 )edit

Sounds like your missing a transform in your tf data. Check the required transforms for the nodes your running. You can look at a pdf of your tf tree with: rosrun tf view_frames

jseal gravatar image jseal  ( 2016-02-03 20:08:23 -0600 )edit

edited previous question

David John gravatar image David John  ( 2016-02-04 23:51:08 -0600 )edit
spmaniato gravatar image spmaniato  ( 2016-02-14 14:32:10 -0600 )edit

did it like this,but still getting the same error.

David John gravatar image David John  ( 2016-02-15 03:16:31 -0600 )edit

answered 2016-02-14 14:38:26 -0600

spmaniato gravatar image

updated 2016-02-14 14:38:58 -0600

You can either use hector_mapping, as jseal suggested, or a combination of laser_scan_matcher and slam_gmapping (or even slam_karto). You'll first need to install it:

sudo apt-get install ros-indigo-scan-tools

Then, here's an excerpt of how you'd run it from a launch file in order to "fake" odometry:

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
  name="laser_scan_matcher_node" output="screen">

  <param name="fixed_frame" value="odom"/>
  <param name="use_imu" value="false" type="bool"/>
  <param name="use_odom" value="false" type="bool"/>
  <param name="max_iterations" value="10"/>
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did like this also...but there is nothing uder the topic /map.

David John gravatar image David John  ( 2016-02-15 03:41:07 -0600 )edit

Did you launch slam_gmapping in addition to the laser_scan_matcher and a transform between your base_link and your laser?

spmaniato gravatar image spmaniato  ( 2016-02-15 08:07:38 -0600 )edit

i lauched slam_gmapping and laser_scan_matcher.........but i didn't do that transform part.could you please help me to do that part.

David John gravatar image David John  ( 2016-02-15 09:06:48 -0600 )edit

You need a transform between the base_link frame and your laser frame (camera_link in your case). Assuming the camera is fixed to the base, you'd add something like:

<node pkg="tf" type="static_transform_publisher" name="base_to_laser"
  args="0 0 0 0 0 0 1 /base_link /camera_link 50" />
spmaniato gravatar image spmaniato  ( 2016-02-15 09:58:14 -0600 )edit

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Asked: 2016-01-23 12:03:17 -0600

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Last updated: Feb 19 '16