Odometry data in gmapping without bag

asked 2017-03-19 06:30:56 -0600

theLordOfYeast gravatar image

Hi, I'm a beginner trying to build a map using this tutorial. There is one change I'd like to make: build in real time. I figured that slam_gmapping node would have to take data not from .bag file, but directly from topics /scan and /tf. My first question is: is my thinking correct?

If so, how should look rosrun command? In tutorial it's "rosrun gmapping slam_gmapping scan:=base_scan". I've tried this one, but gmapping does not work: there's a following warning:

MessageFilter [target=/odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information

and there is no data on my /map topic. I guess it's because I didn't point to odometry topic anywhere. So my second question is: how to make it work? Things I've tried:

  • Execute command "rosrun gmapping slam_gmapping scan:/robot/scan _odom_frame:=odom_combined"
  • This solution: "rosrun gmapping slam_gmapping scan:=/robot/scan _odom_frame:=/robot/odom"
  • This solution with running static_transform_publisher

None of these worked. My tf tree:

/robot/odom -> /robot/base_link -> /robot/base_laser_link

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