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2014-06-24 13:13:24 -0500 | commented answer | Gmapping stops updating map Hey domhege, thank you for your answer! You can see a new EDIT at the question. gruß aus Berlin |
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2014-06-23 07:19:55 -0500 | asked a question | Gmapping stops updating map Hey, after finally getting deeper into ROS and understanding most of the things which are necessary for using the Gmapping-SLAM ( basics like tf, odom etc ) im now at the point of testing the whole thing. There is the Problem that Gmapping stops updating the map after serval scans. But first of all i want to give you a short overview: What i want to do: Im trying to use a simulated 2D-Scanner in VREP as source for Gmapping. Systemconfig: I use Groovy on a Ubuntu 12.04 LTS on a old IBM X41 Laptop (1.5Ghz Centrino SinglecoreCPU) Progress:
3 . I use a static tf transform between base_link and LaserScanner_Frame: This results in the following tf-tree: I use Gmapping with the following Settings: But if i use these settings, there is the problem that Gmapping stops updating the map after serval scans. If i look at the SLAM-Debug-Messages there are serval odd messages: (more) |
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2014-05-15 12:23:50 -0500 | commented question | Wrong laserscan "mapping" in rvis Anyone got a idea? I think the problem is frames / tf related but i cant find the error... view_frames output: http://i.imgur.com/VvhjkBf.png |
2014-05-15 12:22:41 -0500 | commented question | Wrong laserscan "mapping" in rvis Anyone got a idea? I think its frame / tf related but i cant find my error. view_frames output: http://i.imgur.com/VvhjkBf.png |
2014-05-15 05:27:46 -0500 | commented answer | Wrong laserscan "mapping" in rvis Thank you Isaac! I am running 1.8.17 rviz. Do you think it could be a frame related problem like tfoote thinks? |
2014-05-15 05:17:56 -0500 | commented answer | Wrong laserscan "mapping" in rvis Im not sure if i get the other question right, but you mean who does the transform from world to kinect? In Vrep its: simExtROS_enablePublisher('tf',1,simros_strmcmd_get_transform,kinect_visionSensor,kinect,'') simExtROS_enablePublisher('tf',1,simros_strmcmd_get_transform,kinect,-1 ,'') -1 is /world |
2014-05-15 05:15:26 -0500 | commented answer | Wrong laserscan "mapping" in rvis Thank you tfoote for your answer! view_frames output: http://i.imgur.com/VvhjkBf.png The rostopic echo of /scan reveals that the frameid is /kinect |
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2014-05-08 12:01:44 -0500 | asked a question | Wrong laserscan "mapping" in rvis Hi everyone, im pretty new to ROS and i still haven't understand every bit of it. So there are still some things which are a bit strange to me. And i want to say sorry in advance for not writing the best english.. What i want to do: Im trying to use a simulated Kinect in VREP as source for a SLAM-Algorithm in ROS. Systemconfig: I use Fuerte on a Ubuntu 12.04 LTS Progress:
I transfered the Kinect Pointcloud to ROS via a Topic and used the But if i want to show the laserscan in rviz something strange happens to the pointcloud: (i put some decay on the laserscan to see multiple scans at once) (thank you for the upvote, now i can post the picture) It seems as the points arent mapped to the "real world". They are "rotating" with the Robot (Kinect). Shouldnt they normally stay at the objectpositions? I really think that the problem is tf-related... The tf-Tree is visible in the rviz screenshot. The
After that Messages there are multiple tf-messages just like the last one. After a few seconds the other two get a update. Questions:
I think i missed one little piece in the huge ros-puzzle... ? |