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I am still looking for the Rosbridge v2 documentation for socket connection. I may be able to build the client side. If you know where I can find it, please let me know. Thank you for the comment.

Sorry for the duplicate. I should have just editted the question. =)

However, both the RVIZ (subscribe to scan) and Gmapping not working. They only take either one of the scans and consistent along the operation although when I echo I get both scans. The timestamp and sequence are different. I have not tried increase the queue size and would try it then.

Thank you for the comments. I have tried to publish to two different frames but it is not working with Gmapping. So, since the 3D (Z coordinate) of the sensors are not important and they are at the same x-y position, I publish it to the same frame to test whether it is possible to run Gmapping.

Hi,

I am currently using Rosbridge v1 with fuerte. Turns out that I need to use Hydro, but it only supports Rosbridge v2. Would it be possible to install Rosbridge v1 in Hydro?

Worst case scenario, I need to modify the program so that it can talk to Rosbridge v2. The Rosbridge v1 accepts 2 modes of connections (i.e Socket and Websocket). Is it possible to use socket connection in Rosbridge v2 as well?

The reason is that, I am using the clearpath's Labview-ROS toolkit and realise that it is using Socket connection instead of websocket.

Appreciate any input or suggestion on solving this problem.

Regards

Hi,

I have multiple lasers with different angle increment. I publish the data to the same topic and frame. However, since the laser are of different types, I publish different angle_max, angle_min and angle_increment corresponding to each laser message.

The problem is that the RVIZ only shows one of the laser. Sometimes, it only shows first laser and the other time only shows the second laser. This problem is quite weird since I publish the messages to the same topic and tf frame. The same problem happened when I use Gmapping; only one laser is chosen randomly to be used for mapping.

Appreciate any input.

Regards

Hi,

I have ROSbridge installed in fuerte. Now, since I have another package that needs to be run in Hydro, I installed Hydro alongside with Fuerte. The problem is, I used Labview-ROS toolkit by Clearpath and I know that it is not compatible with the second version of ROSbridge in Hydro. So, how could I solve this with minimal effort. Redeveloping the program that talks to the Rosbridge could take massive time, so I prefer to avoid this. =( Would it be possible to rosbuild the ROSbridge version 1 in Hydro and keep on using Labview-ROS toolkit?

Worst case, I need to modify the client side to talk to the ROSbridge v2, but is it allow socket connection?

Thanks very much for any input.

I have successfully implement it using some trick. I compiled a c program with the following fraction of codes

system(roslaunch slam_gmapping.launch &); //In this launch file, put slam_gmapping node so that required='true'

system("rosbag play bagfile.bag");

system("rosrun map_server map_saver");

system("rosnode kill slam_gmapping");

Firstly, the program launch slam_gmapping.launch. This launch file was set such that required='true' for slam_gmapping node. Then, play the rosbag. After the rosbag play finished, the map is saved (at this time, the slam_gmapping.launch is still running and the map will definitely be available). Then, the slam_gmapping node is killed and thus killing the launch file safely (since the required='true' is set to the node).

Hi,

I have a launch file which runs 2 nodes (i.e slam_gmapping and rosbag play). I set the rosbag node so that required="true" . So, the launch file and all other nodes running will be killed once the rosbag is finished.

My problem is, I want to save the map after the rosbag play is finished but before the launch file is killed. If I run the map_server in the launch file, it will save the initial map instead of the required final one. Is there any way to get the final map?

Thanks for any input. Appreciate it.

Hi,

I am a total beginner with ROS. I am using LabVIEW to control my robot. Currently I have the odometry and Kinect data (Laser-like) and will be able to store it in a .txt file. I can store it in the form of something like this:

[Time] [Robot Pose] [Scanned object]

If I managed to get something like this on the .txt file, how do I transform it into a .bag file for use with the gmapping algorithm (offline mode)?

Alternatively, can I use the ROS toolkit for LabVIEW to feed data to the ROS's gmapping in runtime or create a bag?

Any help is much appreciated.

Hi,

Has anyone tried the slam_gmapping package with Windows OS (particularly Windows 7 64-bit). I am interested to run the Gmapping algorithm in Windows instead of Linux. In my project, I use LabVIEW (in Windows) as the programming language and it turns out that I need to apply the Gmapping algorithm.

Has anyone has any experience in using the slam_gmapping package with other programming language? Any comments and suggestions are much appreciated.

It is National Instruments robot and uses Labview Operating System. So, Linux (and ROS) is not available. All the data is transfered to a PC for data processing and to run Slam_gmapping.

Hi,

I completed the tutorial on [slam_gmapping using Logged data]. When I play the basic_localisation_stage.bag and run "rostopic echo tf", I realised that there are 3 messages published every 100ms:

1. odom-->base_footprint
2. base_footprint-->base_link
3. base_link-->base_laser

So, if i want to run gmapping with TF, do I need to publish all those three types messages in every cycle? (2) and (3) have fixed values, and may be unneccessarily to be published again. So, they can be published only at the beginning of the process.

I am not sure how the slam_gmapping works with the TF, as in does it subscribe all the three messages in every cycle? I need to minimise data transfer since I am using Labview to transfer the odometry data to ROS.

Any help would be much appreciated. Thanks