Can't work out Gmapping tutorial on Kinetic

asked 2017-10-23 04:35:57 -0500

pl.guhur gravatar image

I am trying to do the gmapping tutorial like here: http://wiki.ros.org/slam_gmapping/Tut...

I did:

  • Terminal 1 roscore

  • Terminal 2 rosparam set use_sim_time true rosrun gmapping slam_gmapping scan:=base_scan

  • Terminal 3 rosbag play --clock bag/basic_localization_stage.bag

  • Terminal 4 rosrun rviz rviz (and config into /map)

I have on :

  • Terminal 2

[ INFO] [1508745662.533797750, 124.692121616]:

Laser is mounted upwards. -maxUrange 29.99 -maxUrange 29.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30

[ INFO] [1508745662.584835248, 124.752711746]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= -19.396 -8.33452 -1.67552 m_count 0 Registering First Scan

[ WARN] [1508745663.023098492, 125.178668016]: Detected jump back in time of 0.00794878s. Clearing TF buffer.

[ WARN] [1508745664.816411323, 126.976392354]: Detected jump back in time of 0.00588504s. Clearing TF buffer.

(and so on...)

  • Terminal 3

[RUNNING] Bag Time: 159.858223 Duration: 35.226668 / 35.463741

[RUNNING] Bag Time: 159.868914 Duration: 35.237359 / 35.463741

(and so on...)

  • RVIZ : nothing to see.

So, I changed the parameters from rosrun gmapping: rosrun gmapping slam_gmapping scan:=base_scan __map_update_interval 0.1 and so with rosbag: rosbag play -r 0.1 bag/basic_localization_stage.bag.

I don't have the [WARN] anymore but I still don't get any results on rviz. What can I do to make gmapping working?

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Comments

1

I am having the similar problem. When run gmapping set odom_frame:=odom. In rviz, set the Fixed Frame to base_link then I can see the laser scan, but it only contains a short rotation before the jump back in time warning occurs.

simon gravatar image simon  ( 2017-11-10 04:43:49 -0500 )edit