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Husky A200 gmapping transform problem

Hi Again,

I am trying to use Gmapping on a Clearpath Husky A200 with a Sick LMS100 laser range finder. The problem I am running into is that there is no tf from odom to base_footprint. I tried using a static_transfor_publisher to force a connection, but I have found that I will only get the first map scan and then nothing else as it appears that gmapping updates the map based on changes in the odom->base_footprint transform. Since I was using a static transform it never changes, therefore the map never updates. According to the gmapping package page on the wiki this link is usually provided by the odometry system. Anyone know why it is not being provided in this instance or how I can fix this?

Thanks

Husky A200 gmapping transform problem

Hi Again,

I am trying to use Gmapping on a Clearpath Husky A200 with a Sick LMS100 laser range finder. The problem I am running into is that there is no tf from odom to base_footprint. I tried using a static_transfor_publisher to force a connection, but I have found that I will only get the first map scan and then nothing else as it appears that gmapping updates the map based on changes in the odom->base_footprint transform. Since I was using a static transform it never changes, therefore the map never updates. According to the gmapping package page on the wiki this link is usually provided by the odometry system. Anyone know why it is not being provided in this instance or how I can fix this?

Thanks

Husky A200 gmapping transform problem

Hi Again,

I am trying to use Gmapping on a Clearpath Husky A200 with a Sick LMS100 laser range finder. The problem I am running into is that there is no tf from odom to base_footprint. I tried using a static_transfor_publisher to force a connection, but I have found that I will only get the first map scan and then nothing else as it appears that gmapping updates the map based on changes in the odom->base_footprint transform. Since I was using a static transform it never changes, therefore the map never updates. According to the gmapping package page on the wiki this link is usually provided by the odometry system. Anyone know why it is not being provided in this instance or how I can fix this?

Thanks

Husky A200 gmapping transform problem

Hi Again,

I am trying to use Gmapping on a Clearpath Husky A200 with a Sick LMS100 laser range finder. The problem I am running into is that there is no tf from odom to base_footprint. I tried using a static_transfor_publisher to force a connection, but I have found that I will only get the first map scan and then nothing else as it appears that gmapping updates the map based on changes in the odom->base_footprint transform. Since I was using a static transform it never changes, therefore the map never updates. According to the gmapping package page on the wiki this link is usually provided by the odometry system. Anyone know why it is not being provided in this instance or how I can fix this?

Thanks