Static map unmatched origin
I'm having a problem matching up origins using a static map and dynamic map. I'm using only a Kinect sensor, CCNYRGBD, gmapping, and mapserver. So I run gmapping with CCNYRGBD and get a complete map of the room, then run mapserver mapsaver to save the map. Then I launch CCNYRGBD, gmapping, and mapserver displaying the static map. My problem is that I am getting the static map and current map displayed in RVIZ, but the current dynamic map is in the center field and the static map is on the bottom right. I've tried correcting this in the map.yaml file by setting the origin to different coordinates, but the map stays in the same spot.
Should the static map be in its own frame and have a different topic than the current map? I've tried launching amcl, 2dcostmap, and move_base with global static map true and setting the local origin to different values to see if it corrects the problem, but no luck. Any ideas guys?
Asked by ee.cornwell on 2013-04-19 06:40:36 UTC
Comments
Did you localize the robot on the static map?
Asked by dornhege on 2013-04-19 07:07:31 UTC
Isn't that what slam_gmapping does? I placed the robot in the same initial position as when I created the static map. Am I missing something?
Asked by ee.cornwell on 2013-04-19 07:12:53 UTC
I think you got something mixed up or I misunderstood something: You can run either gmapping to get the map from SLAM or load a static map via the map_server and use amcl. A static map + gmapping doesn't make sense.
Asked by dornhege on 2013-04-19 07:52:52 UTC
Ok, this makes sense now...I need to use amcl in place of slam_gmapping once I have a static map, right? This will allow me compare local and global maps...I'll check to see if that solves the problem, thanks!
Asked by ee.cornwell on 2013-04-19 07:57:25 UTC
yes, SLAM xor map+amcl.
Asked by dornhege on 2013-04-19 10:32:01 UTC
ee.cornwell could you help me as Im trying to use gmapping with ccnyrgbd
Asked by boog on 2013-07-14 07:06:31 UTC