Problem with creating map with Robotino and without laser scan

asked 2016-08-12 10:47:44 -0500

rasoo gravatar image

updated 2016-08-16 10:01:50 -0500

I am using robotino and have no Laser Scanner. I am not having any topic publishing named /base_scan. But I want to user slam_gmapping to scan and create map from the bag file.

i used the code below:

rosparam set use_sim_time true

rosrun gmapping slam_gmapping scan:=base_scan

rosbag play --clock myRobotinoBagFile

rosrun map_server map_saver -f /tmp/mymapfile

In my bagfile I have /sonar_scan which is of type sensor_msgs/LaserScan ... but i do not know what is this actually. I have /odom (nav_msgs/Odemetry), /distance_sensors(sensor_msgs/pointclooud) , /cmd_val(geometry_msgs/Twist) etc. But the slam_gmapping requires topic of type sensor_msgs/LaserScan. As I do not have /base_scan , 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.

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no response !!

rasoo gravatar image rasoo  ( 2016-10-06 09:13:16 -0500 )edit

Hello, did you find any solution to your problem? I'm stuck on similar problem

A_Saeed gravatar image A_Saeed  ( 2017-05-11 10:27:13 -0500 )edit

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.

rasoo gravatar image rasoo  ( 2017-06-27 09:55:54 -0500 )edit