Gmapping with a priori map

asked 2016-04-12 11:46:57 -0500

andrefc
3 ●4 ●6 ●8

updated 2016-04-19 09:07:37 -0500

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.

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You're referring to this question/answer, right? http://answers.ros.org/question/9448/...

spmaniato ( 2016-04-13 18:23:46 -0500 )edit

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.

andrefc ( 2016-04-13 18:50:56 -0500 )edit

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/ope...

spmaniato ( 2016-04-13 19:12:09 -0500 )edit

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answered 2016-04-13 07:14:02 -0500

jodafo

365 ●3 ●7 ●12

http://wiki.ros.org/amcl

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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...

andrefc ( 2016-04-14 08:52:32 -0500 )edit

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.

spmaniato ( 2016-04-14 09:13:33 -0500 )edit

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?

andrefc ( 2016-04-14 09:44:58 -0500 )edit

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

spmaniato ( 2016-04-14 09:55:16 -0500 )edit

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answered 2016-04-19 09:07:49 -0500