velodyne vlp16 points accumulating during slam gmapping. how to fix point cloud and generate map using slam_gmapping?

asked 2019-08-15 04:15:08 -0500

sandy174 gravatar image

I am running ros melodic morenia on ubuntu 18.06. I am using slam_gmapping with velodyne vlp16 pointcloud. everytime I work with this package I get point cloud accumulating and fix position of velodyne. the velodyne point cloud is rotating around the velodyne sensor in rviz.

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Can you give us further details? In order to make slam_gmapping work you need a laser scan there ist a node pointcloud_to_laserscan which can transfrom for you. Furthermore, the coordinate systems have to be published (between baselink and your velodyne) and the odometrie (scroll down on the tutorial). Hope that helps you.

RosNav gravatar imageRosNav ( 2019-08-16 02:31:56 -0500 )edit