Gmapping with a priori map

Hi, guys!

I know that this question has been e answered before, but it was some years ago! Since then was this ever developed or something similar?

I'm asking this, because gmapping was the best package to use for navigation but it has the disadvantage of not working for long-term navigation (everytime i need to use it, i have to map a new environment). I searched for a different solution for navigating with hokyuo and odometry, but gmapping is the best one to build the map and navigate using move_base.

Can anyone of you help me please?

Thanks.

Asked by andrefc on 2016-04-12 11:46:57 UTC

Comments

You're referring to this question/answer, right? http://answers.ros.org/question/9448/loading-a-prior-map-with-gmapping

Asked by spmaniato on 2016-04-13 18:23:46 UTC

Yes, i'm referring to that question. It has more than 5 years and i'm hoping that someone has resolved this problem since then.

Asked by andrefc on 2016-04-13 18:50:56 UTC

I don't think gmapping itself has seen any development in the past 5 years: http://openslam.org/gmapping.html nor has there been a related openslam_gmapping PR: https://github.com/ros-perception/openslam_gmapping/pulls?utf8=%E2%9C%93&q=is%3Apr

Asked by spmaniato on 2016-04-13 19:12:09 UTC

Answers

http://wiki.ros.org/amcl

Asked by jodafo on 2016-04-13 07:14:02 UTC

Comments

I've tried that solution, but it doesn't seems the best solution for navigation because the localization for amcl is poor with an a priori map. I followed this link for configuration: http://www.openrobots.org/morse/doc/1.2/user/advanced_tutorials/ros_tutorial.html

Asked by andrefc on 2016-04-14 08:52:32 UTC

Is it poor because the map has changed in the meantime? If the map is "exactly" the same, then it's just a matter of tuning amcl parameters.

Asked by spmaniato on 2016-04-14 09:13:33 UTC

If i use it in gazebo the localization is almost perfect, but it has some problems when i use it to the real robot... Does the amcl use odometry or it only uses the information from the laser?

Asked by andrefc on 2016-04-14 09:44:58 UTC

Yes, it does use odometry: http://wiki.ros.org/amcl

Asked by spmaniato on 2016-04-14 09:55:16 UTC

I think this can answer my question about using gmapping with a priori map.

http://answers.ros.org/question/11173/map_server-getmap/

Asked by andrefc on 2016-04-19 09:07:49 UTC