Create Map from Rosbag

edit

Hi I am having problem with creating map(.pgm and .yaml) files. First i tried to create a map using the existing bag file following this tutorial. I was successful to create map. Now I created a bag file following this tutorial. I created a bag file. But when I try to create a map using this newly created bag file I am getting the message

ras@ubuntu:~/bagfiles$ rosrun map_server map_saver -f ~/testmap
[ INFO] [1470969136.155361289]: Waiting for the map

Edit2:

I have kinect which gives PointCloud2 data over the topic /camera/depth/points . I want to convert is first to LaserScan type and then create the bag file.

The steps how i created bag files are given below :

1. roscore
2. roslaunch freenect_launch freenect.launch
3. rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node
4. rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
5. rostopic echo /scan --//and here I can see the converted data of LaserScan type. I am sure now it is publishing LaserScan data
6. rosbag record -O subset /scan /tf --//Recording /scan and /tf data. it will create a subset.bag file

Now its time to Create the map from the logged data Steps are given below:

1. rosparam set use_sim_time true
2. rosrun gmapping slam_gmapping scan:=base_scan /I have confusion on the base_scan as my data on /scan/
3. rosbag play --clock ~/bagfiles/subset.bag //play the bag file
4. rosrun map_server map_saver -f /home/ras/bagfiles/rastest_kinect

Here in the step 4, it just shows waitng for the map. But if I change the file name from step 3 which I downloaded from here, I get a map generated. The sample bag file which I generated is attached and the rqt graph is here

the comparision of the two bag files are as below:

the downloaded file --this is okay and successfully generates map

ras@ubuntu:~/mynect_ws$ rosbag info ~/bagfiles/downloaded.bag path: /home/ras/bagfiles/downloaded.bag version: 2.0 duration: 1:32s (92s) start: Jan 01 1970 01:00:34.60 (34.60) end: Jan 01 1970 01:02:06.80 (126.80) size: 8.2 MB messages: 3693 compression: none [11/11 chunks] types: sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369] tf/tfMessage [94810edda583a504dfda3829e70d7eec] topics: /base_scan 924 msgs : sensor_msgs/LaserScan

/tf 2769 msgs : tf/tfMessage

My generated file -- for this one map_saver waits for the map

ras@ubuntu:~/mynect_ws$ rosbag info ~/bagfiles/subset.bag path: /home/ras/bagfiles/subset.bag version: 2.0 duration: 1:31s (91s) start: Aug 21 2016 18:30:19.07 (1471797019.07) end: Aug 21 2016 18:31:50.32 (1471797110.32) size: 7.7 MB messages: 6379 compression: none [11/11 chunks] types: sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369] tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec] topics: /scan 2735 msgs : sensor_msgs/LaserScan

/tf 3644 msgs : tf2_msgs/TFMessage (4 connections)

Can anyone please help me regarding this. Thanks.

EDIT1: As I am pretty new I did not checked first about recording topic and. Now I understand that it requires LaserScan type messages. I am using Robotino and I do not have Laser Scanner hardware. I can get data of PointCloud2 and ... (more)