Pepper gmapping using laser sensor

asked 2018-03-14 11:43:14 -0600

ksy gravatar image

Hi all,

I am trying to do SLAM using Pepper's laser sensor, I am using ROS Kinetic and Naoqi 2.5.5 I am using this URDF:

Launching the bridge:

roslaunch pepper_bringup pepper_full_py.launch nao_ip:=<PEPPER_IP> roscore_ip:=<ROS_IP>
Note: I have changed the real IPs to PEPPER_IP and ROS_IP

When I run the following command:

rosrun gmapping slam_gmapping scan:=/laser/srd_front/scan

I start receiving warnings:

[ WARN]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: 1.00693

The topic /map doesn't have any data

I am not able to figure out how to solve this, please suggest any solution.


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