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What topics are necessary to log for creating a SLAM comparison bag file?

asked 2011-02-28 07:37:52 -0500

tfoote gravatar image

updated 2014-01-28 17:09:15 -0500

ngrennan gravatar image

I want to collect a bag file to compare different SLAM algorithms and parameters on my mobile base. What topics should I record?

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answered 2011-02-28 07:43:05 -0500

Brian Gerkey gravatar image

updated 2011-02-28 08:04:15 -0500

For gmapping or karto, you need transform data and laser scan data. So you should record /tf and the topic with your laser data, which is often /scan. Note that the laser scans should be from a fixed, horizontally mounted laser. On some robots (e.g., the PR2), this data is on the topic /base_scan.

It's easier if you don't run a SLAM or localization system (or anything else that estimates the map->odom transform) while you record the data. Otherwise you'll have to filter out that data from the bag (how to do that is another question).

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There is also this tutorial that covers the full process:
kwc gravatar image kwc  ( 2011-02-28 08:18:38 -0500 )edit

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Asked: 2011-02-28 07:37:52 -0500

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Last updated: Feb 28 '11