| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
The reason why the laser scan appears to move when you move the robot in ROS is because the laser scanner is mounted on the robot and moves with it. As the robot moves, the laser scanner generates a new scan data based on its new position and orientation.
In ROS, the laser scanner publishes the scan data as a sensor_msgs/LaserScan message. This message contains information about the position and orientation of the scanner, as well as the range and intensity measurements of the laser beams.
When the robot moves, the position and orientation of the laser scanner changes, which in turn affects the scan data that it generates. The laser scanner is typically mounted on a motorized joint, which allows it to scan in a wide range of directions as the robot moves.
To visualize the laser scan data in ROS, you can use the rviz visualization tool. In rviz, you can add a LaserScan display and subscribe to the scan topic to see the scan data in real time. As the robot moves, you will see the laser scan data update to reflect its new position and orientation.
Which slam package are you using? As in something like slam_toolbox or gmapping slam
Could you check static_map and rolling_window parameters ?
Asked: 2023-04-26 08:43:50 -0500
Seen: 267 times
Last updated: Apr 26 '23
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
