turtlebot3 gmapping launch parameters

asked 2019-12-11 15:03:38 -0600

BB559 gravatar image

Hi, hope someone can help

I have followed the instructions from: http://emanual.robotis.com/docs/en/pl... reaching command: roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

upon r-viz opening, i am greeted by a blocky/low resolution map forming from the lidar on a grid, with no turtlebot3 burger visible.

Issues with robot model. eg.( base_footprint No transform from [base_footprint] to [map] )

Changing the fixed frame in general options from map to odom resolves all issues with mapping etc. where the map is fixed and the turtlebot moves accordingly to its operation. However, resolution is still too low for my project.

And so my question is, is there a way that when I run the turtlebot3_slam.launch file I can have it configure the fixed frame and map resolution from 0.05 to say 0.01? I have tried using the variables from here: https://wiki.ros.org/gmapping#Parameters however these seem to have no effect when launching.

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