Problem with creating map with Robotino and without laser scan
I am using robotino and have no Laser Scanner. I am not having any topic publishing named /basescan. But I want to user slamgmapping to scan and create map from the bag file.
i used the code below:
rosparam set usesimtime true
rosrun gmapping slamgmapping scan:=basescan
rosbag play --clock myRobotinoBagFile
rosrun mapserver mapsaver -f /tmp/mymapfile
In my bagfile I have /sonarscan which is of type sensormsgs/LaserScan ... but i do not know what is this actually. I have /odom (navmsgs/Odemetry), /distancesensors(sensormsgs/pointclooud) , /cmdval(geometrymsgs/Twist) etc. But the slamgmapping requires topic of type sensormsgs/LaserScan. As I do not have /basescan , what is the solution to use this method for creating map. Is there any converter i need which can publish /odom or distance sensor data into LaserScan type.?(well it was a wild guss) Thank you all in advance.
EDIT: I tried to use the type converter... PontCloud to LaserScan and depthImage to laserScan. After I also tried to create the bag file. The bag file created but using that bag I was not able to make map. it says "waiting for map". I am sure I am doing some stupid mistake but cant figure it out.
Asked by rasoo on 2016-08-12 10:47:44 UTC
Comments
no response !!
Asked by rasoo on 2016-10-06 09:13:16 UTC
Hello, did you find any solution to your problem? I'm stuck on similar problem
Asked by A_Saeed on 2017-05-11 10:27:13 UTC
Seems like no one in the ROS community is intereste to creat map :p I am sorry, but using this approach I could not create a map. I proceeeded with my futher tasks which was obstacle detection and avoidance.
Asked by rasoo on 2017-06-27 09:55:54 UTC