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Is rplidar enough to use gmapping?

asked 2019-02-20 23:08:16 -0500

Hemanth gravatar image

updated 2019-02-21 15:52:58 -0500

jayess gravatar image

Hello, I am new to ROS. Excuse me if this question sounds trivial.

I am using rplidar A1 to create a map of the environment using gmapping. I have recorded the laserscan in /scan topic into a bag file using the rplidar_ros package. The required topics for gmapping are mentioned as /scan and /tf.

I have also created the tf tree using the static_transform_publisher. The tf tree follows this order. odom->base_footprint->base_link->base_laser. I have nothing set up with the rplidar.

I know that the map->odom transform is created by the slam_gmapping node itself. I can also view the laser points in rviz when i run the command roslaunch rplidar_ros view_rplidar.launch

Here is my launch file that i am using to generate the transforms.

<launch>

    <node pkg="tf" type="static_transform_publisher" name="laser_broadcaster" args="0 0 0 0 0 0 base_link base_laser 100" />

    <node pkg="Nodes" type="odom_publisher.py" name="odometry_publisher" output="screen"/>

    <node pkg="tf" type="static_transform_publisher" name="footprint_broadcaster" args="0 0 0 0 0 0 base_footprint base_link 100" />

</launch>

My odometry_publisher node publishes no data for now as i dont have wheel encoders but it has a transform broadcaster for odom->base_footprint.

Could someone please tell me if need any other data such as odometry or imu messages for gmapping to work or if i am missing something from the steps that i did.

Thank you.

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answered 2019-02-21 13:59:23 -0500

StewartHemm74 gravatar image

I'm currently working with a similar issue. You will need the odometry information to come out of your wheel encoders. The imu's will help SLAM account for any drifting that may occur on the robot as well.

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GMapping relies very heavily on odometry, and does not use IMU. You and @Hemanth should look at Google's cartographer, as it doesn't require either.

allenh1 gravatar image allenh1  ( 2019-02-22 14:00:16 -0500 )edit

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Asked: 2019-02-20 23:08:16 -0500

Seen: 702 times

Last updated: Feb 21 '19