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Ros, stage, gmapping --> tf


I am trying to use ros with stage and gmapping. I can move my robot in stage around, and with rostopic echo I can see, that the sensor readings change. But when I start gmapping, the GridMap values stay at -1.

I guess that is, because I did not compute tf. But rostopic info tells me, that stage is a publisher to tf, so now I am not sure, if I must calculate it myself, or if that is done for me.

If I have to do it myself, i guess i got to do the following:

Create a TransformListener

tf::StampedTransform transform;

listener.lookupTransform("/odom", "/map",ros::Time(0), transform);

And then publish the transform to tf?

Would be really glad if someone could help me!