No Map Received in Rviz while trying out gmapping. [closed]

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Hi, thanks. I have map in my rostopic list. According to my research, I need to modify TF tree but I really have no idea how to do. I only knew how to set odom_fram and base_frame and it create a separate TF tree

it's not clear why you would need the transforms if you have /map topic. But anyways..

What's your relation between base_link and odom frames?

The reason why I'm asking is you need to provide two transformations to gmapping to work: base_link -> laser; odom -> base_link

If you have them plus /laser topic then gmapping will give you map -> odom transformation plus /map.

The other transforms shouldn't be required for gmapping to work.

To test it out use the following static transforms:

rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link

rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link laser

If this works, then you know which transforms you need and you can provide dynamic ones.

Hi thank you for this.

Hi I figure that I need to change the tf tree as well. How do I exactly do that?

Please give more information regarding your problem while asking the question so that people can give you an exact solution. Include if you are working on a simulated model by using any gazebo plugins, controllers or making a real robot.

Coming to the tf, if you are using the gazebo plugins or calculation odom data using math, you must have declared your odom frame and base_footprint in the plugin itself. It will directly create a transform between /odom and /base_footprint

Else, you can also create a static transform as @nigeno said.