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Sick and ROS slam

asked 2012-08-22 22:27:49 -0500

Julio gravatar image

Hello everyone,

I'm working with a p3dx using Aria and ROS. I did a teleop package and then I used the sonar device to avoid obstacles.

Finally I added a sick laser. With the data obtained with this laser I have to draw a map. Does any ROS package do that? Maybe openCV?

Thank you beforehand

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answered 2012-08-22 22:31:55 -0500

michikarg gravatar image

You can use the GMapping package to create a 2D gridmap using your SICK:

http://www.ros.org/wiki/gmapping

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Thanks a lot. I get the buffer reading with an Aria callback (readingCB). So I guess I have to create ros callback and publish this buffer to gmapping node.

The readings are ArPoseWithTime.

Thank you

Julio gravatar image Julio  ( 2012-08-22 22:35:29 -0500 )edit

One more remark: GMapping uses the Laserscan message and odometry information from TF. So make sure to not only publish your laser message, but also the TF-frames needed, i.e. one odometry-start-frame, a base_link frame and one for the position of your laserscanner.

michikarg gravatar image michikarg  ( 2012-08-22 22:43:58 -0500 )edit

Thanks a lot!

Julio gravatar image Julio  ( 2012-08-22 22:55:44 -0500 )edit

I have a problem. I'm working with MoblieSim and I have tow nodes: teleop_node and movement_node. The first one is running in my laptop and the second one in the p3dx. I need the stage package in order to know the odometry. How can I know the odometry from mobilesim instead of Stage Robot Simulator?

Julio gravatar image Julio  ( 2012-08-25 01:21:55 -0500 )edit

Since I guess this relates to a different issue, I propose you open a new question for that. You will get answers faster and from more people then...

michikarg gravatar image michikarg  ( 2012-08-26 20:24:06 -0500 )edit
Julio gravatar image Julio  ( 2012-08-26 23:42:56 -0500 )edit

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Asked: 2012-08-22 22:27:49 -0500

Seen: 1,329 times

Last updated: Aug 22 '12