Feeding different SLAM algorithm with the same bag file
Hi I am trying to feed gmapping with bag dataset from cartographer. But terminal shows the gmapping is hoping the data type of "sensor_msgs/LaserScan" while the cartographer dataset bag provides the topics of "horizontal_laser_2d","vertical_laser_2d" with data type "sensor_msgs/Multiecholaserscan".
So, generally, how do people do to fit the dataset type issue If they want to run different SLAM algorithm with the same bag dataset.
Thank you.
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The correct way should be modify the cartographer launch file and lua file to "tell" the cartographer what's kind of sensor and topic we will use. But I managed found out the cartographer_turtlebot we have the related launch file and lua file in which the scan topic is "/scan" rather than "horziontal_laser_2d".
The difference between an ordinary laser scan and a multi echo laser scan is explained in REP 138. It looks like the laser_proc package has a nodelet that can listen to Multiecholaserscan and can publish LaserScans. Do you know how to run / test that?
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Hello, @sinsinsinsin can you elaborate further? I have this exact same issue but I have not been able to solve it.
I have my launch file which I use to run gmapping on other bag-files, but it doesn't work for cartographer bags because of this LaserScan VS MultiEchoLaserScan issue. Your solution says that the cartographer launch file and lua file need to be edited. But I need to run gmapping not cartographer and I already have my custom_gmapping.launch file and my custom.lua file.
How do I make it possible to run gmapping on the cartographer bag-file with my launch file?