Gmapping no map received rviz

asked 2019-11-19 05:23:07 -0500

JasonMc gravatar image

Im following this tutorial series about making a laser scanner simulation using rviz and gmapping (https://kiranpalla.com/autonomous-nav...).

The laser scanning works, but trying to visualize the map that needs to be created by gmapping, results in the warning "no map received". Indeed, there are no messages published on the /map topic.

My Gmapping launch file:

<?xml version="1.0"?>
<launch>
  <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
    <remap from="/scan" to="/kbot/sensor_laser/scan"/>
    <param name="base_frame" value="base_footprint"/>
  </node>
</launch>

The laser scanner published on /kbot/sensor_laser/scan. This is done correctly. If more information is required, I will provide it.

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Comments

Gmapping requires odom. Do you have that part of the tutorial running?

billy gravatar image billy  ( 2019-11-19 09:44:06 -0500 )edit

Hi,

As @billy said:

Can you post the tf tree that is generating your set up?. It is common to miss the Map -> odom -> Base footprint transform.

Weasfas gravatar image Weasfas  ( 2019-11-21 05:47:42 -0500 )edit