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Doubts regarding gmapping

asked 2012-12-11 16:13:09 -0500

ChengXiang gravatar image

Hi. I have some doubts regarding gmapping. On the wiki page, it is stated that gmapping make use of both laserscan and odometry data to build a map. However,it seems that the slam_mapping node only subscribe to “scan” topic but not to “odom” topic. So, is it that we only need to set the “odom_frame” parameter when launching gmapping to “odom” so that the gmapping receive odometry data? Thank you.

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answered 2012-12-11 16:42:36 -0500

gmapping receives the odometry information in the form of a transform from the odom frame to the base_link frame. You need another package (for example robot_pose_ekf) publishing that transform in order for gmapping to work.

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Thanks Ivan! I have always thought of odometry information as a stream of msg. Seems like I am wrong.

ChengXiang gravatar image ChengXiang  ( 2012-12-11 20:39:50 -0500 )edit

Odometry is a stream of messages on the /odom topic. But in ROS, an odometry node is also supposed to continuously publish the transform odom -> base_link and that's what, for instance, the robot_pose_ekf node does after fusing /odom and IMU data.

Lorenz gravatar image Lorenz  ( 2012-12-11 20:47:54 -0500 )edit

I see. That answered my queries. Thanks!

ChengXiang gravatar image ChengXiang  ( 2012-12-11 21:37:41 -0500 )edit

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Asked: 2012-12-11 16:13:09 -0500

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Last updated: Dec 11 '12