Static map unmatched origin [closed]

asked 2013-04-19 06:40:36 -0500

ee.cornwell gravatar image

updated 2016-10-24 08:34:42 -0500

ngrennan gravatar image

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 map_server. So I run gmapping with CCNYRGBD and get a complete map of the room, then run map_server map_saver to save the map. Then I launch CCNYRGBD, gmapping, and map_server 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?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-11-26 03:27:12.220101


Did you localize the robot on the static map?

dornhege gravatar image dornhege  ( 2013-04-19 07:07:31 -0500 )edit

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?

ee.cornwell gravatar image ee.cornwell  ( 2013-04-19 07:12:53 -0500 )edit

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.

dornhege gravatar image dornhege  ( 2013-04-19 07:52:52 -0500 )edit

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!

ee.cornwell gravatar image ee.cornwell  ( 2013-04-19 07:57:25 -0500 )edit

yes, SLAM xor map+amcl.

dornhege gravatar image dornhege  ( 2013-04-19 10:32:01 -0500 )edit

ee.cornwell could you help me as Im trying to use gmapping with ccnyrgbd

boog gravatar image boog  ( 2013-07-14 07:06:31 -0500 )edit