Getting map -> odom transform without using Gmapping

asked 2013-03-12 06:40:34 -0600

kachilous
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I need to get the map -> odom transform which is the pose of the robot in the map frame. During the execution of my program, I serve a built map to the map server, so I fear that if I have gmapping running with the map server there may be a conflict, ie my program will subscribe to the wrong map topic.

Is there a way to get the map -> odom transform without using gmapping? Or if I use gmapping will it cause a conflict in my program, if I have an exisiting map on the map server?

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answered 2013-03-12 08:11:56 -0600

Ben_S

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If i understand correctly, you only want to localize in a given (static?) map. Have a look at AMCL, which should be exactly what you need.

If you are building your own map dynamically, i think you have to set use_map_topic to true and first_map_only to false (default).

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answered 2013-03-12 08:06:31 -0600

dornhege

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You can usually remap everything when running gmapping, i.e. the /map topic and possibly the /map frame (via param) for tf. If you do so gmapping will not interfere with other algorithms producing the same kind of data.

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In the map -> odom transform that gmapping provides, where will it get the map data? From the map on the map server or on the map that gmapping has

kachilous ( 2013-03-12 15:56:05 -0600 )edit

gmapping make its own map.

dornhege ( 2013-03-13 01:01:08 -0600 )edit

So in calculating the transform map -> odom, instead of using the map that I've loaded on the map server, (which is what I want) it will instead use the map that it has created.

kachilous ( 2013-03-13 11:01:50 -0600 )edit

gmapping will always create and use its own map.

dornhege ( 2013-03-13 11:28:31 -0600 )edit

So if I want to know the location of the robot in my map that I built with gmapping, would it matter that gmapping uses its own map to calculate the map -> odom transform?

kachilous ( 2013-03-13 12:19:27 -0600 )edit

gmapping will only give you the position in the map that it builds right now. If you want to localize in a previously recorded map, use something like amcl. See @Ben_S answer for that.

dornhege ( 2013-03-14 01:55:38 -0600 )edit

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