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gmapping asks for other datatype

asked 2021-03-30 15:38:44 -0500

bartvanderhaagen gravatar image

hey,

Im getting this error when running gmapping on noetic

[ERROR] [1617134422.612323280]: Client [/rviz_1617133592247520252] wants topic /map_metadata to have datatype/md5sum [nav_msgs/OccupancyGrid/3381f2d731d4076ec5c71b0759edbe4e], but our version has [nav_msgs/MapMetaData/10cfc8a2818024d3248802c00c95f11b]. Dropping connection.

is there a better way of mapping in ros noetic or do i have to fix this?

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How did you install it?

jayess gravatar image jayess  ( 2021-03-30 17:14:30 -0500 )edit

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answered 2021-03-31 05:28:27 -0500

bartvanderhaagen gravatar image

updated 2021-03-31 06:57:43 -0500

I installed it with apt-get

My solution was to create a launch file with these parameters

<launch>
  <param name="use_sim_time" value="false"/>
  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <remap from="laser" to="OccupancyGrid"/>
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="16.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="3.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="30"/>
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
  </node>
</launch>

In my tf model the base_laser is called laser

<remap from="laser" to="OccupancyGrid"/>

Thanks
Bart

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Asked: 2021-03-30 15:38:44 -0500

Seen: 37 times

Last updated: Mar 31