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how to use gmapping based on laser_scan_matcher?

asked 2017-02-11 10:06:45 -0500

Bill5785 gravatar image

updated 2017-02-11 10:07:25 -0500

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!

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

joq gravatar image joq  ( 2017-02-11 12:18:07 -0500 )edit

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

Bill5785 gravatar image Bill5785  ( 2017-02-11 12:36:20 -0500 )edit

All right. Good luck with that.

joq gravatar image joq  ( 2017-02-15 09:52:47 -0500 )edit

Any progress to report?

joq gravatar image joq  ( 2017-03-28 16:04:55 -0500 )edit

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answered 2017-04-04 18:02:20 -0500

Bill5785 gravatar image

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

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Sounds like a reasonable answer to me.

joq gravatar image joq  ( 2017-04-05 07:09:06 -0500 )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 image Bill5785  ( 2017-05-04 20:52:25 -0500 )edit

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Asked: 2017-02-11 10:06:45 -0500

Seen: 435 times

Last updated: Feb 11 '17