Gmapping with V-REP
Hello,
I'm doing a course project whose goal is to build a SLAM simulation with ROS and V-REP.
I'm new to ROS and V-REP and I'd like some help from you guys. Here is what I did:
- I created a scene with a p3dx robot in V-REP.
- I publish Twist message on ROS to control the motion of the robot in V-REP.
- V-REP is publishing 3 frames to ROS: "odom": the fixed world coordinate; "base_link": the robot coordinate; "laser": the laser sensor coordinate. Also, V-REP is publishing laserScan data as well.
- I run gmapping node, subscribing to the LaserScan data.
- I run RVIZ and changed the fixed frame to /map, so that I can visualize the ongoing mapping while the robot moves in V-REP.
Here comes the question, I'm getting a error message for the global state in RVIZ: "Fixed Frame [map] does not exist" How should i fix this? I assume that I need to define a new frame corresponding to "map" but how am I supposed to do it? Just create a new coordinate and add a tf between "map" and "odom"?