No map obtained gmapping

asked 2017-02-06 14:02:05 -0600

psi gravatar image

updated 2017-02-07 01:26:07 -0600

Hi, all! I am running gmapping slam by the next sequence of commands (all are in new terminals):

rosrun urg_node urg_node _frame_id:='laser_link'
rosrun navigation odometry_publisher
rosrun tf static transform_publisher 0 0 0.15 0 0 0 'base_link' 'laser_link' 100
rosrun gmapping slam_gmapping

but there is no map in rviz. When I add topic /map in rviz, it shows warning status and "No map obtained". Laser scan are shown well via /scan topic and odometry is also good, but there is no map. I have really no idea. I know this is a popular question and almost asked questions are refered to transformation issue. But my tf transformations are seem to be correct: map->odom->base_link->laser_link. I also run rviz on my remote machine and nodes on the local according to . May be there is a special order of rosrun launching?

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There was a too slow transform broadcasting rate between /odom and /base_link.

psi gravatar image psi  ( 2017-02-11 13:20:38 -0600 )edit