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gmapping output very large 4000X4000?

slam_gmapping

asked 2012-03-20 01:43:28 -0600

prince

659 ●57 ●65 ●74

updated 2012-03-20 03:19:47 -0600

hi,

We just ran Pioneer with ROS navigation stack with slam_gmapping node. The output of the map is 4000x4000 (appx. 15 MB) irrespective of size of environment explored.

If I try to use this map for sbpl_lattice_planner, it just waits for the map. I can visualize map in rviz. The map is grey (may be to refer to unknown area). But rviz & system hangs.

Is this behaviour because of big size of map?? I can not find which parameters to use to set map bounds? Any ideas?

Update 1: I tested it one other laptop. I may be because of hardware problem , not able to handle Rviz! is it possible with i5 processor? prince

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answered 2012-03-20 03:42:50 -0600

Ben_S

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Have a look at the parameter section of the gmapping documentation. You can set the parameters xmin, xmax, ymin, ymax to some small values (like 5 meters or so). You can also adjust the resolution by setting delta.

Here is an example for an launch file with the values set. (10m x 10m map, 2cm resolution)

Regards Ben