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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.
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.
Thanks Ivan! I have always thought of odometry information as a stream of msg. Seems like I am wrong.
Asked: 2012-12-11 16:13:09 -0500
Seen: 424 times
Last updated: Dec 11 '12
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