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the necessary of the "rosparam set use_sim_time true " in gmapping

asked 2016-09-21 22:17:08 -0500

sasadasd gravatar image

updated 2016-09-21 22:20:49 -0500


I would like to know the necessary of "rosparam set use_sim_time true " when I build exact map by using gmapping and rviz.

When I used "rosparam set use_sim_time true " before "rosrun gmapping slam_gmapping scan:=base_scan", my map becomes error " No map received" in rviz. If I don't use "rosparam set use_sim_time true " ,The error don't appear.

If I don't use ""rosparam set use_sim_time true " , Can I build exact map?

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answered 2016-09-22 04:06:09 -0500

Shay gravatar image

It is not necessary if you are not using rosbag to play back sensor data.

My setup is:

  • a real robot P3DX
  • a laser
  • a cellphone running Android APP to teleop robot

I didn't set the param 'use_sim_time'. I just ran gmapping and teleop robot to build the map, and then used map_saver to get the map and .yaml file.

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Thank you for your helpful infomation!

sasadasd gravatar image sasadasd  ( 2016-09-22 07:55:11 -0500 )edit

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Asked: 2016-09-21 22:17:08 -0500

Seen: 5,570 times

Last updated: Sep 22 '16