Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Scan topic for mapping

asked 2012-07-04 05:50:21 -0500

allenh1

3045 ●62 ●89 ●110 http://allen-software.com/

updated 2012-07-06 05:48:40 -0500

I'm having trouble with mapping... I have both the laser scan and odometry from a bagfile. When I run the laser scan trough a node (doesn't change any data, just converts to a pointcloud) and convert back to a laserscan with poincloudtolaser, it will not map from the new topic.

I'm sure this has something to do with the base_link or some frame_id thing, but I have no idea how to set this up... Any help?

The published scan has a different laser topic. It is /laserOut/filtered (again, no filtering yet). So, I run gmapping with the following:

rosrun gmapping slam_gmapping _particles:=100 _linearUpdate:=0.1 _angularUpdate:=0.1 scan:=/laserOut/filtered

This accounts for the update interval and points at the topic to listen to. Gmapping is not having trouble with scan matching. It scores like it does normally. The only difference is the fact that it does not update the map after.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2012-07-04 06:09:41 -0500

tlinder

663 ●7 ●8 ●16 http://bohnenstroh.homeip.net/

Hi, normaly the TF (or as you called it frame_id think ;-) ) for a laser scan message is by default "/laser" and the topic name is "/scan". With

rostopic list

you can check if the topic name "/scan" is available. If yes the just check by

rostopic echo /scan

if the header of the message contains the correct default frame_id. Alternatively you can also try

roswtf

and check the results.

edit flag offensive delete link

Comments

All is as it should be there... What would cause GMapping to scan match and score highly, but not update the map?

allenh1 ( 2012-07-05 07:37:24 -0500 )edit

As far as i remember was there a parameter for setting up the map updated ratio, i.e. the parameter after how many meters or change in degree shall the map be republished. May this helps.

tlinder ( 2012-07-05 08:11:54 -0500 )edit

add a comment

Question Tools

Stats

Asked: 2012-07-04 05:50:21 -0500

Seen: 888 times

Last updated: Jul 06 '12

Scan topic for mapping edit

1 Answer

Comments

Question Tools

Stats

Related questions

Scan topic for mapping