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2018-08-08 01:58:30 -0500 marked best answer Gmapping and Navigation Stack

Can Gmapping alongside with Nav Stack be used for navigating the robot while avoiding obstacles? If so, is there any source code that can make life easier?

thanks

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2018-03-21 12:00:12 -0500 asked a question Gmapping and Navigation Stack

Gmapping and Navigation Stack Can Gmapping alongside with Nav Stack be used for navigating the robot while avoiding obst

2018-03-21 11:49:54 -0500 edited question Problems with Navigation Stack

Problems with Navigation Stack We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to con

2018-03-21 11:49:19 -0500 commented question Problems with Navigation Stack

Got it, thanks!

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2018-03-20 18:49:35 -0500 edited question Problems with Navigation Stack

Problems with Navigation Stack We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to con

2018-03-20 18:49:13 -0500 edited question Problems with Navigation Stack

Problems with Navigation Stack We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to con

2018-03-20 18:49:06 -0500 edited question Problems with Navigation Stack

Problems with Navigation Stack We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to con

2018-03-20 18:48:44 -0500 asked a question Problems with Navigation Stack

Problems with Navigation Stack We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to con

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2018-03-02 11:46:04 -0500 commented answer Gmapping: map doesn't update

Thanks a ton! @mig everything works!

2018-03-02 11:45:18 -0500 marked best answer Gmapping: map doesn't update

We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to convert odometry ticks into quaternion and publishing to /odom. We also use a Hokuyo Laser Scanner. While running the Gmapping launch file, we are capable of getting the first map. However, it does not update. We have tried setting small parameters for Angular and Linear update - nothing. When we force gmapping to make a map using TemporalUpdate, it just creates multiple maps and puts one on top of another. On top of everything when we do not use TemporalUpdate, the base scan starts drifting all over the map.

Any suggestions on how to fix these issues:

  1. getting rid off drifting
  2. updating the map

Our gmapping launch file:

<launch>
<node pkg="urg_node" type="urg_node" name="laser_scan">
<param name="port" value="/dev/ttyACM0"/>
<param name="frame_id" value="map"/>
<remap from="scan" to="base_scan"/>
</node>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_base_laser_link" args="0.058 0 0.125 0.0 0.0 3.1416 /base_link /base_scan 100"/>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<rosparam>
odom_frame: odom
maxUrange: 5.4
maxRange: 5.4
base_frame: base_link
</rosparam>
<remap from="scan" to="base_scan" />
</node>
</launch>
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2018-03-01 14:01:40 -0500 edited question Gmapping: map doesn't update

Gmapping: map doesn't update We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to conve

2018-03-01 14:00:54 -0500 edited question Gmapping: map doesn't update

Gmapping: map doesn't update We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to conve

2018-03-01 14:00:05 -0500 edited question Gmapping: map doesn't update

Gmapping: map doesn't update We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to conve

2018-03-01 13:56:37 -0500 edited question Gmapping: map doesn't update

Gmapping: map doesn't update We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to conve

2018-03-01 13:54:57 -0500 edited question Gmapping: map doesn't update

Gmapping: map doesn't update We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to conve

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2018-03-01 13:53:17 -0500 edited question Gmapping: map doesn't update

Gmapping: map doesn't update We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to conve

2018-03-01 13:51:06 -0500 asked a question Gmapping: map doesn't update

Gmapping: map doesn't update We have a custom 2 wheel robot using Pololu Motor Shields, with ROS_arduino_bridge to conve

2018-02-21 18:33:48 -0500 commented answer Navigation Stack + Hokuyo_node

Hey, could you please tell me more about your setup please? i do not see the slam being launched in your launch files. I