Hi Euchul,
Gmapping expects odometry which would usually be estimated from encoders on the robots wheels. If you are running this on a robot you need to setup a tf broadcaster to transmit the estimated transformation between odom coordinate frame and the base link.
If however you just have the laser depending on what type of map you are trying to generate it may be worthwhile looking at some of the scan matching tools.
http://www.ros.org/wiki/scan_tools
Cheers
Steve
On 08/10/2010, at 3:12 AM, eunchul Jeon wrote:
Hi, I'm Eunchul Jeon in South Korea, and newbie.
I want to get the static map using Hokuyo UTM-30LX
Firstly, I got the scan data like this
rosrun hokuyo_node hokuyo_node scan:=base_scan
Next, I used static transfrom publisher like this
<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 link1_parent link1 100" />
</launch>
and next, produce a map like this
rosrun gmapping slam_gmapping scan:=base_scan
Lastly, save my map like this,
rosrun map_server map_saver
However, I can't create the map.pgm.
I suppose that I need odometry about device.
How can I generate that?
Thank you and have a good day.
--
================================================
Eunchul Jeon
M.S. Student, Intelligent Systems and Neurobotics lab,
Dept. Computer Science, KAIST
Science town, Daejeon, 305-701, South Korea
TEL: 82 42 350 3580
E-mail:
jsharp@kaist.ac.kr<
mailto:jsharp@kaist.ac.kr>,
jsharp83@gmail.com<
mailto:jsharp83@gmail.com>
Homepage:
http://isnl.kaist.ac.kr<
http://isnl.kaist.ac.kr/>
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