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Not able to create map using Gmapping?

asked 2018-10-20 14:32:26 -0600

Dhagash Desai gravatar image

updated 2018-10-20 14:33:09 -0600

I am trying to create a map with the rosbag file and doing it exactly as mentioned in the tutorial I am running Ububtu 16.04 with ROS Kinetic:

After starting master I am doing:

rosparam set use_sim_time true

Then I am starting :

rosrun gmapping slam_gmapping _base_frame:=base_footprint

And then starting bag file with --clock as parameter then also I am getting error which I am trying to echo the /map_metadata,No messages received and simulated time is active.Is /clock being published?

And for the matter of fact /clock is being published and when I echo the topic its running fine then why am I not getting map or why when I rosbag file there is no diagnostics being published with gmapping node runnning.

The link to the bag file is this https://drive.google.com/file/d/1ZcEL...

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Can anyone help?

Dhagash Desai gravatar image Dhagash Desai  ( 2018-10-21 08:33:22 -0600 )edit

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answered 2018-10-22 09:44:12 -0600

It's working for me:

roscore
rosparam set use_sim_time true
rosrun gmapping slam_gmapping _base_frame:=base_footprint
rosbag play --clock 'full_loop_with_office (1).bag'

$ rostopic echo /map_metadata
map_load_time: 
  secs: 0
  nsecs:         0
resolution: 0.0500000007451
width: 4000
height: 4000
origin: 
  position: 
    x: -100.0
    y: -100.0
    z: 0.0
  orientation: 
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0

$ rostopic echo --noarr /map 
header: 
  seq: 0
  stamp: 
    secs: 1513852657
    nsecs: 631752338
  frame_id: "map"
info: 
  map_load_time: 
    secs: 0
    nsecs:         0
  resolution: 0.0500000007451
  width: 4000
  height: 4000
  origin: 
    position: 
      x: -100.0
      y: -100.0
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
data: "<array type: int8, length: 16000000>"
---
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Asked: 2018-10-20 14:32:26 -0600

Seen: 239 times

Last updated: Oct 22 '18