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husky_navigation gmapping_demo.launch not updating [closed]

asked 2013-03-20 10:45:45 -0600

updated 2014-01-28 17:15:49 -0600

ngrennan gravatar image

Hello again,

I am using the husky_navigation gmapping_demo.launch to try mapping my lab. Everything is set up properly (as far as I know anyway) but when I launch the program rviz only shows the first scan. I used rviz to show the laser scan and that is sending data. It seems for some reason that the map won't update after the initial scan. Anyone know the reason for this?

UPDATE So, I think I have figured out what I did wrong, but I am having trouble fixing it. I used a static transform to connect the odom tf to the base_footprint tf. It appears though that the map will only update when it detects a change between those tfs, but since I used a static transform it will never change and therefore the map will never update. How can I attach the /map->/odom tf tree to the /base_footprint tf tree without using a static transform?

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Closed for the following reason the question is answered, right answer was accepted by Icehawk101
close date 2013-03-25 04:38:13



Regarding your update: Thats exactly what I mentioned. Maybe you should mark this as completed, as we found the reason for gmapping not working and ask a new question about getting reasonable odometry data from a husky robot.

Ben_S gravatar image Ben_S  ( 2013-03-25 00:17:59 -0600 )edit

Just closing with stating "...right answer was accepted" doesn't accept the answer by itself. :)

Ben_S gravatar image Ben_S  ( 2013-03-25 07:21:08 -0600 )edit

That was the closest option from the list. There was no "This question has turned into another question" option :P

Icehawk101 gravatar image Icehawk101  ( 2013-03-25 07:34:13 -0600 )edit

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answered 2013-03-20 12:34:16 -0600

Ben_S gravatar image

Judging from this the map_update_interval is set quite high. This may lead to slower map updates.

Does your odometry give you reasonable movement data? In general GMapping updates the map after some minimal translational or angular movement of the robot. This is controlled by the linearUpdate and angularUpdate paramters. (See: GMapping parameters) If no movement is detected (by the odom -> base_link transform), no new scans are integrated into the map.

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The laser scan outline moves fairly well as I move the robot, but I have not checked the parameters directly. I shall give that a shot tomorrow.

Icehawk101 gravatar image Icehawk101  ( 2013-03-20 13:51:19 -0600 )edit

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Asked: 2013-03-20 10:45:45 -0600

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Last updated: Mar 22 '13