Ask Your Question
0

how to use gmapping based on laser_scan_matcher?

asked 2017-02-11 10:06:45 -0600

Bill5785 gravatar image

updated 2017-02-11 10:07:25 -0600

I now only have .pcap file collected by my velodyne. I want to test gampping without a moving robot.

Here are the steps I did:

roslaunch velodyne_pointcloud VLP16_points.launch pcap:=/home/soowon/Documents/County_Fair.pcap

...

rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/velodyne_points

At this moment, I can see the laserscan in RVIZ with frame of "velodyne", then I run this to get fake /tf:

rosrun laser_scan_matcher laser_scan_matcher_node scan:=/scan

..

rosrun gmapping slam_gmapping scan:=/scan

No error occurs, but I cannot see anything new in RVIZ, I added the topic map, but it says "no map received". I tried different frames in RVIZ, like: velodyne, map, world. It does not work.

Can anybody tell me what is the reason? Thank you very much!

edit retag flag offensive close merge delete

Comments

How to you expect gmapping to interpret the lack of odometry?

joq gravatar imagejoq ( 2017-02-11 12:18:07 -0600 )edit

@joq, http://answers.ros.org/question/25437... in this quesiton, somebody says laser_scan_matcher can provide odometry.

Bill5785 gravatar imageBill5785 ( 2017-02-11 12:36:20 -0600 )edit

All right. Good luck with that.

joq gravatar imagejoq ( 2017-02-15 09:52:47 -0600 )edit

Any progress to report?

joq gravatar imagejoq ( 2017-03-28 16:04:55 -0600 )edit

1 Answer

Sort by ยป oldest newest most voted
1

answered 2017-04-04 18:02:20 -0600

Bill5785 gravatar image

@joq I gave up and use hector slam instead...

edit flag offensive delete link more

Comments

Sounds like a reasonable answer to me.

joq gravatar imagejoq ( 2017-04-05 07:09:06 -0600 )edit

I recently again began to use gmapping, but now I have odometry and not need laser_scan_matcher anymore. Here is my progress up to now: link text

Bill5785 gravatar imageBill5785 ( 2017-05-04 20:52:25 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2017-02-11 10:06:45 -0600

Seen: 378 times

Last updated: Feb 11 '17