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How to save result file of Gmapping? (through rviz)

asked 2012-03-31 19:53:24 -0500

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Hi.

I'm trying to do tutorial : SLAM Map Building with Turtlebot.

http://www.ros.org/wiki/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM

My environments are ubuntu 11.10 and ROS electric.

My execution sequence is like this.

  1. roslaunch turtlebot_bringup.minimal.launch (on the turtlebot)

  2. roslaunch turtlebot_bringup kinect.launch (on the turtlebot)

  3. rosrun turtlebot_dashboard turtlebot_dashboard& (on the workstation)

  4. roslaunch turtlebot_navigation gmapping_demo.launch (on the turtlebot)

  5. roslaunch turtlebot_teleop keyboard_teleop.launch (on the workstation)

  6. rosrun rviz rviz -d rospack find turtlebot_navigation/nav_rviz.vcg (on the workstation)

  7. rosrun map_server map_saver -f /tmp/my_map (on the turtlebot)

After do all sequence, I get rviz screen.

And then when i execute 7, I couldn't get map file (my_map.yaml)...

I don't know why.............

Help plz...

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Do you mean that you don't get ONLY .yaml file? Or both .yaml and image file? Also, just making sure, have you created /tmp folder ?

130s gravatar image 130s  ( 2012-04-01 20:06:48 -0500 )edit

Also, although I'm not sure exactly what phenomenon you're dealing with, I might have experienced similar situation. See http://answers.ros.org/question/11957/map_saver-doesnt-return-from-waiting-for-the-map

130s gravatar image 130s  ( 2012-04-01 20:12:01 -0500 )edit

no... I couldn't get any files..... and when i execute 7, i waited 5minutes more.... but console is not changed...

JamesJeong gravatar image JamesJeong  ( 2012-04-02 05:25:24 -0500 )edit

when i execute 7, i couldn't see " [INFO] [ros.time] : Waiting for the map" message... but i know that you already get this message. and you solve your problem through rebooting.. right? i did already trying that... but it's not solution in my case...

JamesJeong gravatar image JamesJeong  ( 2012-04-02 05:30:31 -0500 )edit

and i'm confirming connection between my workstation and turtlebot through command(rostopic list), dashboard, ping.... what should I do...?

JamesJeong gravatar image JamesJeong  ( 2012-04-02 05:34:28 -0500 )edit

When you had succeeded, you would execute this command in this directory ("turtlebot@turtlebot-1:/tmp$ rosrun map_server map_saver -f /tmp/my_map" ) right? so i did same your case, too..... but fail......

JamesJeong gravatar image JamesJeong  ( 2012-04-02 05:49:28 -0500 )edit

i get some message in console.. that message is this. [ERROR] {1333382381.914160288]: [registerPublisher] Failed to contact master at [192.168.0.67:11311]. Retrying... this case is that i execute in tmp folder....

JamesJeong gravatar image JamesJeong  ( 2012-04-02 06:10:58 -0500 )edit

rostopic list doesn't confirm your connnection. See the link from @fergs answer below.

tfoote gravatar image tfoote  ( 2012-04-09 16:32:48 -0500 )edit

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answered 2012-03-31 20:58:56 -0500

fergs gravatar image

Have you setup both the turtlebot and the workstation to find each other?

(see: http://www.ros.org/wiki/ROS/Tutorials/MultipleMachines for details)

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answered 2012-03-31 21:17:54 -0500

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Thanks ferge!

I solved my problem so little...

The way is that views(right side in rviz) change Orbit..

So I can get rviz screen..

But I couldn't get continous map...

When I started gmapping_demp.launch and rviz, I get screen.

And then, when I did teleop by keyboard, I could see changing robot location.

But that's only....

I couldn't get map....

What am i doing wrong?? T.T

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answered 2012-05-16 11:13:22 -0500

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When you fire up rviz there will be multiple options on left , just choose map and subscribe it to topic /map.

Hope it helps..

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Asked: 2012-03-31 19:53:24 -0500

Seen: 5,113 times

Last updated: May 16 '12