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

Gmapping with a priori map

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

andrefc gravatar image

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?


edit retag flag offensive close merge delete


You're referring to this question/answer, right?

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

I don't think gmapping itself has seen any development in the past 5 years: nor has there been a related openslam_gmapping PR:

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

2 Answers

Sort by ยป oldest newest most voted

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

jodafo gravatar image
edit flag offensive delete link more


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:

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

Yes, it does use odometry:

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

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

andrefc gravatar image

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

edit flag offensive delete link more

Question Tools



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

Seen: 322 times

Last updated: Apr 19 '16