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2012-03-03 11:55:17 -0500 | commented question | XV-11 gmapping map_server issues /laser_scan_matcher_node |
2012-03-03 11:55:10 -0500 | commented question | XV-11 gmapping map_server issues When I initialize the tf as: "rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link neato_laser 100" I receive the same amount of errors. [ WARN] [1330815201.923587244, 1282836389.428243224]: TF_OLD_DATA ignoring data from the past for frame /base_link at time 1.28284e+09 according to authority |
2012-03-03 10:41:08 -0500 | commented answer | XV-11 gmapping map_server issues I've edited my initial post regarding the demo.launch |
2012-03-03 10:00:13 -0500 | commented answer | XV-11 gmapping map_server issues Thank you for such a quick response. I will run laser_scan_matcher and post my results shortly. |
2012-03-03 09:56:54 -0500 | received badge | ● Editor (source) |
2012-03-03 09:31:46 -0500 | asked a question | XV-11 gmapping map_server issues Below are the commands that I have previously been attempting to use to initialize gmapping with the Neato XV-11 lidar. The laser data is published to "/scan" . The issue I have been stumped by has been "[INFO] [1330801449.815455981]: Waiting for the map" So a map is never created. /odom is not on rxgraph as it is with many other gmapping tutorials so it may have something to do with that missing node. Also "rosbag record -O mylaserdata /scan /tf" tells me that no clock is received. I would like to know how to successfully use my XV-11 Lidar with gmapping for SLAM. Build a map cd ros . setup.sh rosmake gmapping roscore //////////////////////////////////////////////// New Tab //////////////////////////////////////////////// //////////////////////////////////////////////// Plug in USB to XV-11 Lidar //////////////////////////////////////////////// //////////////////////////////////////////////// New Tab //////////////////////////////////////////////// rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link scan 100 //////////////////////////////////////////////// New Tab //////////////////////////////////////////////// rosparam set use_sim_time true rosrun gmapping slam_gmapping scan:=scan Save map (New Tab) rosrun map_server map_saver -f my_lab_map (To check if data is being published: rostopic echo --noarr -n 1 map) Create own bag (New Tab) rosbag record -O mylaserdata /scan /tf (Ctrl+C to end capture) rosbag play mylaserdata.bag Watch mapping (New Tab) rosmake rviz rosrun rviz rviz /static_map:=/dynamic_map ======================================================================================= Ok well I installed the scan_tools stack and proceeded to try the demo and I got this rxconsole error: "Node: /laser_scan_matcher_node Time: 1282836372.076217409 Severity: Warn Location: /tmp/buildd/ros-electric-scan-tools-1.1.0/debian/ros-electric-scan-tools/opt/ros/electric/stacks/scan_tools/laser_scan_matcher/src/laser_scan_matcher.cpp:LaserScanMatcher::getBaseToLaserTf:620 Published Topics: /rosout, /tf, /pose2D ScanMatcher: Could not get initial laser transform(Unable to lookup transform, cache is empty, when looking up transform from frame [/laser] to frame [/base_link])." So I changed /laser to /scan and now I receive "[ WARN] [1330810596.512410015, 1282836375.091389701]: ScanMatcher: Skipping scan Frame /base_link exists with parent NO_PARENT.)" I'm new to ROS so I'm absolutely sure I'm doing something wrong and it's not the laser_scan_matcher. |