Alex1209's profile - activity

I now found the documentation you talk about I think. Is it this? so I in cluded #include slam_gmapping.h but when i catkin_make this file cannot be found. :(

so you mean to use gmapping::dynamic_map instead of nav_msgs::GetMapas service? And include #include <gmapping/dynamic_map.h> ? Can you post a link to documentation please? If I do so I get the fault "gmapping/dynamic_map not found"

I'm using gmapping to create a map. To this point everything works fine.

Now I want to call the GetMap-Service to receive the map for further investigation:

#include <nav_msgs/GetMap.h>

ros::ServiceClient client = n.serviceClient<nav_msgs::GetMap>("map");
nav_msgs::GetMap srv;

  if (client.call(srv))
  {
    ROS_INFO("Service GetMap succeeded.");
  }
  else
  {
    ROS_ERROR("Service GetMap failed.");
    return 1;
  }

But when running this node I always get "Service GetMap failed." I added gmapping to "find packages" in CMakefile and to build & runtime dependencies in package xml.

What's my fault?

Thanks a lot for your quick answers.

Thanks for the quick answer.

Your answer brings up another question to me: The published topic "map" is of type "occupancy grid" which uses int8[] for data. Is the HierarchicalArray2D also used there? Or only for internal calculation?

I'm using gmapping. The default map-size is a 4000x4000 cells (200m x 200m) occupancy grid map stored in a 1x16,000,000 1D array.

What happens if I make the default map-size a 200x200 cells map (10m x 10m) and the map has to be extended in action? Does gmapping do this itself or would this be a problem?

Thanks for your help. Alex

Thank you very much :D It's that easy. Now the map looks way better.

I'm using a SICK TIM 300 Laserscanner with the gmapping node to create a Map. But whenever the Laserscanner can not see an obstacle at a certain angle (because the obstacles are out of range), gmapping marks these areas as 'unknown'. But the Laserscanner not seeing anything at a certain angle, means there is no obstacle within the measuring-range (in my case: 4m). As a result gmapping should mark these areas as free.

How can I solve this problem?

I'm using Ubuntu 12.04 with ROS hydro. The Laserscanner marks these 'out-of-range'-areas as 'distance = 0m', the header from the /scan - message tells that the minimum distance is 0.05m.

Thanks for your help.