how to achieve 2D SLAM with kinect [closed]

asked 2012-10-11 14:46:17 -0500

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I think it's possible to do 2D SLAM with Kinect, because of Hessmer has done:http://www.hessmer.org/blog/2011/04/10/2d-slam-with-ros-and-kinect/. I use the ubuntu 12.04 ,fuerte of ROS. Now i only have a kinect , the ROS has installed the package of slam_gmapping , turtlebot and also the driver of kinect. I can use kinect properly for laser scan when the Fixed frame select /camera_depth_frame,But when i change it to /map,it does not work: roslaunch openni_launch openni.launch

roslaunch turtlebot_bringup kinect.launch

rosrun rviz rviz

rosrun gmapping slam_gmapping

In the rviz i add the laser scan,TF,Axes,grid and a map, the map does not work , status is warning. The TF shows: No transform from [/map] to frame [/camera_depth_frame], the terminal shows :[target=/odom ]: Dropped 100.00% of messages so far.

I don't know how to solve this problem, who can help me thanks!!

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2012-11-24 14:30:15

Comments

Start by generating a PDF of your TF tree: % rosrun tf view_frames; see if everything is connected properly.

Mac gravatar image Mac  ( 2012-10-31 09:39:22 -0500 )edit