In ros gmapping, how to use Intel Research Lab dataset?

answered 2016-04-27 09:27:33 -0500

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I had some time on my hands, so I wrote a script for you: clf_to_rosbag.py .

The script converts the .clf file into a rosbag file. The alternative would have been to publish laser_scan and tf, as you suggest, but then we would also have to handle publishing the /clock topic (since the data has timestamps from the past). By converting to a bag file, rosbag --clock handles this for us.

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Thanks. I have converted the .clf file to .bag file by running the clf_to_rosbag.py . But when I run the bag file ,open the rviz, no map received.I input the command: "rosrun gmapping slam_gmapping scan:=base_scan" and it print nothing. I think if it works well ,it should print something . thanks

wang cong ( 2016-04-27 22:28:05 -0500 )edit

It should be scan:=laser, not scan:=base_scan, since I wrote the laser data on the topic laser.

Martin Günther ( 2016-04-28 04:58:01 -0500 )edit

Still no map .And in rviz, Map shows no " No transform from [] to [map]",how to deal with it ? Thanks

wang cong ( 2016-04-28 08:47:44 -0500 )edit

OK,thanks very much.I have got it. I need to publish a tf base_link -> base_laser ,and I modify the .py you provided , the tf in it is odom->base_link . Now ,it works. thanks!

wang cong ( 2016-04-28 23:09:45 -0500 )edit

Glad to help! BTW, you closed the question; I've reopened it, since we usually don't do that here. Please "accept" my answer instead.

Martin Günther ( 2016-05-02 04:47:46 -0500 )edit

i don't know how tp accept your answer ,please tell me

wang cong ( 2016-05-02 06:24:14 -0500 )edit

Just click the round checkmark icon next to my answer and wait a few seconds until it turns green. Don't click again.

Martin Günther ( 2016-05-02 07:29:26 -0500 )edit

Hello,can you give me the clf_to_rosbag.py you midified? Thank you!