tb12's profile - activity

It looks like you need to run the Cartographer grid node in order to save the map. https://google-cartographer-ros.readt

All of your topics look like they match. While running your node and the bagfile, do you get any output to "/scan_matche

ok, and what about the rosbag node?

what i would recommend is to make sure your cartographer node is subscribed to the same topics that are being published.

You need to run your SLAM node and rosbag together. When you run a rosbag the data will be published to ROS similar to i

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

Running rviz gets "Aborted (core dumped)" After running a dist-upgrade I am no longer able to run rviz. Below is the out

where is the "two-wheel differential-drive-mobile robot" example?

I disagree. this map makes a lot of sense. you are building a 2D map and your map Z value is 0 at the location of your laser scans. you are not building a map of the floor, you are building a map at the level of your laser scanner.

there are parameters publish_pose_with_covariance and publish_pose_with_covariance_stamped which will publish the ICP covariance (if it is being calculated) or instead a diagonal 1e-9 matrix if the ICP covariance is not calculated. I am not sure if this parameter was available when this question was asked, but I am posting this for anyone who comes across the question from now on and wants an answer :)

did you solve this? I am having a similar issue.

unless you are not allowed to use AMCL, I would recommend using AMCL with an odometry source and then, if you want, fusing them together using an EKF like robot_localization (I know this is a year old, but I wanted to answer this for anyone who looks at this question later)

you can republish the compressed image as an uncompressed image:

rosrun image_transport republish compressed in:=/image_raw out:=/image_raw

trajectory_builder_2d is a configuration file that is referenced by default from the tutorial launch file

Which slam algorithm are you using?

I have gotten AMCL to work with the LaserScanMatching node using just a Lidar. I set the fixed frame in LaserScanMatching to odom and the base frame to base_link. In AMCL it uses the intuitive parameter names, odom frame is odom, base frame is base_link. The tf tree then goes map -> odom by amcl, odom -> base_link by laser_scan_matching.

I will try to get this working with hector slam also as the odometry, if anyone has gotten that please let me know how!

what errors are you getting when you launch cartographer mapping?

and of course your urg_node publishes to scan

in the rqt graph you have cartographer_node subscribed to tf, tf_static, and scan, and publishing the scan matcher, submap list, and tf.

tf gets your robot state publisher as well as the static transforms. and the robot state publisher is also publishing to tf_static.

i cant post any pictures yet, but the tf tree is:

world -> map -> base_link -> laser, and base_link also points to other links which are being ignored based on my configurations.

I also use a laser scanner but I don't have any odometry data (I assume you mean from your wheels?) and it works fine. Here is my configuration file, which is almost identical to the given backpack_2d.lua file from the demo:

include "map_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "base_link",
  provide_odom_frame = false,
  use_odometry = false,
  use_laser_scan = true,
  use_multi_echo_laser_scan = false,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
}

MAP_BUILDER.use_trajectory_builder_2d = true
TRAJECTORY_BUILDER_2D.use_imu_data = false

return options

The configuration file can be called from a launch file as so:

<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename backpack_2d.lua"
      output="screen">
     <!--<remap from="echoes" to="scan" />-->
  </node>

  <node pkg="tf" type="static_transform_publisher" name="world_to_map_broadcaster" args="0 0 0 0 0 0 world map 50" />
  <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 50" />

</launch>

Be sure to configure the simtime somewhere too