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map conversion to image (hector_compressed_map_transport ((GMAPPING)))

asked 2018-09-11 03:16:17 -0600

RoboRos gravatar image

updated 2018-09-11 07:41:26 -0600

Hello,

I am trying to use hector_compressed_map_transport for other slam algorithms too.

I know that it uses /pose. I am publishing pose by the help of http://wiki.ros.org/pose_publisher in the required msgType. But map never shows up (window freezes).

Any help please.?

I am using kinetic and trying to view the map by rosrun image_view image_view image:=/map_image/full _image_transport:=compressed (It work perfect for hector slam).

edit:

rostopic list:

/clock
/cmd_vel
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/image_view_1536669384226536434/compressed/parameter_descriptions
/image_view_1536669384226536434/compressed/parameter_updates
/image_view_1536669384226536434/output
/image_view_1536669384226536434/parameter_descriptions
/image_view_1536669384226536434/parameter_updates
/map
/map/compressed
/map_image/full
/map_image/full/compressed
/map_image/full/compressed/parameter_descriptions
/map_image/full/compressed/parameter_updates
/map_image/full/compressedDepth
/map_image/full/compressedDepth/parameter_descriptions
/map_image/full/compressedDepth/parameter_updates
/map_image/full/theora
/map_image/full/theora/parameter_descriptions
/map_image/full/theora/parameter_updates
/map_image/tile
/map_image/tile/compressed
/map_image/tile/compressed/parameter_descriptions
/map_image/tile/compressed/parameter_updates
/map_image/tile/compressedDepth
/map_image/tile/compressedDepth/parameter_descriptions
/map_image/tile/compressedDepth/parameter_updates
/map_image/tile/theora
/map_image/tile/theora/parameter_descriptions
/map_image/tile/theora/parameter_updates
/map_metadata
/mybot/camera1/camera_info
/mybot/camera1/image_raw
/mybot/camera1/image_raw/compressed
/mybot/camera1/image_raw/compressed/parameter_descriptions
/mybot/camera1/image_raw/compressed/parameter_updates
/mybot/camera1/image_raw/compressedDepth
/mybot/camera1/image_raw/compressedDepth/parameter_descriptions
/mybot/camera1/image_raw/compressedDepth/parameter_updates
/mybot/camera1/image_raw/theora
/mybot/camera1/image_raw/theora/parameter_descriptions
/mybot/camera1/image_raw/theora/parameter_updates
/mybot/camera1/parameter_descriptions
/mybot/camera1/parameter_updates
/mybot/laser/scan
/odom
/pose
/rosout
/rosout_agg
/slam_gmapping/entropy
/tf
/tf_static
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Comments

Just to check is your 'other slam algorithm' also publishing the map on the same topic as well as the pose? Can you show us the output of rostopic list as well.

PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-09-11 05:09:51 -0600 )edit

I have checked it with hector slam. And yes it is working. Hector publishes pose by default while for gmapping i am using pose_publisher. However, one difference i have found is that hector also have a topic /poseupdate in addition. C result of rostopic list in question.

RoboRos gravatar imageRoboRos ( 2018-09-11 05:40:00 -0600 )edit

@PeteBlackerThe3rd No it is not working. I gues i posted the wrong topic list there. I have updated it.

RoboRos gravatar imageRoboRos ( 2018-09-11 07:40:23 -0600 )edit

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answered 2018-09-11 06:34:09 -0600

Okay,you're trying to view the map using this command rosrun image_view image_view image:=/map_image/full _image_transport:=compressed i.e. you're looking for a topic called /map_image/full but looking at the output of rostopic list this doesn't exist.

There is however a topic called /map if the type of this topic is an image then you'll be able to view it by updating the topic name in your image_view command.

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Asked: 2018-09-11 03:16:17 -0600

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Last updated: Sep 11 '18