Using Gmapping with kitti/velodyne topic?

asked 2020-04-21 17:03:07 -0500

Shiva_uchiha gravatar image

updated 2020-04-27 06:50:41 -0500

hi I am using below launch file to experiment with kitti dataset.I am actually converting velodyne point clouds to laserscan using point to laser scan node. The feed the laser scan to Gmapping.However I am getting message stating that no map data found ?

<?xml version="1.0"?>


  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
      <remap from="cloud_in" to="/kitti/velo/pointcloud"/>
      <!--remap from="scan" to="/camera/scan" /-->

    <!--Launch Gmapping-->
  <node pkg="gmapping" type="slam_gmapping" name="gmapping_thing" output="screen">
    <!--remap from="scan" to="/scan" /-->  

    <node pkg="rosbag" type="play" name="player" output="screen" args=" $(find project2pcl)/rosbag/kitti_2011_09_26_drive_0005_synced.bag"/> 


I have made the following changes on checking out the TF required documentation, Now Gmapping hangs.

<node pkg="gmapping" type="slam_gmapping" name="gmapping_thing" output="screen">
  <param name="odom_frame" value="world"/>


When i look at TF frame The map->world->base_link. i am not able to post the pdf due to no karma points

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