Why my own bag generated by rosbag can not be used for build map

asked 2017-10-09 08:07:12 -0500

Dope_man gravatar image

updated 2017-10-09 09:30:58 -0500

jayess gravatar image

Initially, I use basic_localization_stage.bag, which can generate map, but when I use my own bag(mylaser.bag), it doesn't work anymore. Here is my step:

  1. roslaunch roslaunch sick_tim sick_tim551_2050001.launch

  2. rosrun gmapping slam_gmapping scan:=base_scan

  3. rosbag record -O mylaserdata /base_scan /tf

but when I check with my bag info, it is different from basic_localization_stage.bag, it doesnt subscribe the base_scan , clock and other needed topic. Can anyone help me? Thanks

tfe@tfe-OptiPlex-760:~/Downloads$
rosbag info mylaserdata.bag  path:   
mylaserdata.bag version:     2.0
duration:    12.0s start:       Oct
09 2017 13:05:49.26 (1507547149.26)
end:         Oct 09 2017 13:06:01.26
(1507547161.26) size:        42.9 KB
messages:    241 compression: none
[1/1 chunks] types:      
tf2_msgs/TFMessage
[94810edda583a504dfda3829e70d7eec]
**topics:      /tf   241 msgs    : tf2_msgs/TFMessage**

tfe@tfe-OptiPlex-760:~/Downloads$
rosbag info
basic_localization_stage.bag  path:  
basic_localization_stage.bag version:
2.0 duration:    35.5s start:       Jan 01 1970 01:02:04.63 (124.63) end:
Jan 01 1970 01:02:40.10 (160.10)
size:        462.6 KB messages:   
3617 compression: none [1/1 chunks]
types:       rosgraph_msgs/Clock  
[a9c97c1d230cfc112e270351a944ee47]
            rosgraph_msgs/Log     [acffd30cd6b6de30f120938c17c593fb]
            sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
            tf/tfMessage          [94810edda583a504dfda3829e70d7eec]

**topics:      /base_scan      24 msgs    : sensor_msgs/LaserScan
               /clock        3515 msgs    : rosgraph_msgs/Clock  
               /rosout          2 msgs    : rosgraph_msgs/Log    
               /rosout_agg      2 msgs    : rosgraph_msgs/Log    
               /tf             74 msgs    : tf/tfMessage**
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