what is the simplest method of extracting a 2D map file from the scenario?

asked 2013-10-24 02:17:33 -0500

RB
221 ●41 ●46 ●60

updated 2013-10-24 08:12:40 -0500

I am working on USARSim/ROS control framework. I have been able to move robot using keyboard through ROS package. Now I want to generate a global map in 2D of the USARSim environment where the robot is moving. What is the prerequisite for map_saver utility to generate a 2D map? Can anyone please help me regarding this.

answered 2013-10-24 05:33:16 -0500

Bill Smart
1263 ●6 ●15 ●34

Take a look at the slam_gmapping tutorial.

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Hi Bill, thanks for your quick reply. I have gone through the tutorial. But unable to extract the map from laser data stored in rosbag. Again to get full map of the environment do I need to drive the robot around the environment continuously?

RB ( 2013-10-24 08:11:58 -0500 )edit

I think, if I use a correct bag file, then also the map_saver utility must give us the map.pgm. rosbag play basic_localization_stage.bag rosrun map_server map_saver

RB ( 2013-10-24 21:21:15 -0500 )edit

I have noticed that no messages are published in the /lms200 topic. Moreover I have realized that the corresponding /tf node does not exist. I suspect it's another bug in USARSim/ROS but I haven't investigated further.

kr1zz ( 2013-10-28 23:23:37 -0500 )edit

kr1zz Hi, how you came to know that no messages are published in the /lms200 topic, can you specify the filename in usarsim_inf package where modification has to be done? By the way USARSim/ROS modified something take a look. http://sourceforge.net/p/usarsimros/code/ci/master/tree/usarsim_inf/. I have posted another question here http://answers.ros.org/question/94671/error-in-creating-2d-global-map-of-the-environment/

RB ( 2013-10-29 00:13:04 -0500 )edit

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what is the simplest method of extracting a 2D map file from the scenario?

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what is the simplest method of extracting a 2D map file from the scenario?