# Slam mapping with Rviz, realsense and a turtlebot

Lately, I started a hobby project of my own. This involves 2d SLAM gmapping using a realsense 3d camera, a kobuki base (turtlebot) and Rviz for subsequent visualisation. I'm starting it up by the following sequence of commands :

roscore
roslaunch turtlebot_bringup minimal.launch
roslaunch realsense_camera r200_nodelet_default.launch
rosrun depthtimage_to_laserscan depthtimage_to_laserscan image:=/camera/depth/image_raw
rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map camera_link 10
rosrun gmapping slam_gmapping scan:=scan _odom_frame:=odom
rosrun rviz rviz


and consequently added the required topics for visualisation at the left side. (like laserscan, and the like)

But the problem is, though the 2d map is being generated, the map is getting overlapped. Elaborating further, through teleop, if we rotate the bot by 180 degrees, (basically the camera is rear-facing now); in the map, the newly scanned area (which is the one opposite to the previously scanned area) is not being shown in the Rviz to be directly opposite to the previously scanned area(before rotation), but is simply overlaying this on TOP of the previously scanned area (before rotating). The same goes for when we move the bot around as well.

Also, the Costmap section in the Rviz is showing := "/map not detected". Is it something that normally happens during scanning and gets rectified during navigation, or is it because of something that I did wrong? (Also, the bot is flickering on Rviz, upon running static transform, is it a normal thing? or should I fine-tune the parameters further?) I'm relatively new to ROS and the ideas surrounding it, so any advice would be greatly appreciated.

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rosrun tf static_transform_publisher 0 0 0 0 0 0 1 base_link camera_link 10

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