Re: [ros-users] Particle cloud isn't displayed on rviz

Hi Laura,

gmapping does not publish the particle cloud like amcl. It also does not
have the input initialpose like amcl, which explains both your errors. See
http://www.ros.org/wiki/gmapping If you want those features you will need
to get amcl running correctly.

Note that running amcl and gmapping in parallel will result in very
incorrect behavior as they will output conflicting information. You should
choose to run one or the other.

Tully

On Wed, Dec 8, 2010 at 2:24 PM, Laura <laurago894@gmail.com> wrote:

>
> Hello Eric,
>
> Thank you for your answer.
>
> 1. I am actually using gmapping to make the map->odom transform, I have it
> in a separate launch file I didn't include. The reason I used gmapping to
> make this transform is that I couldn't make it work with amcl. Perhaps the
> problem lays there. Could you tell me if this transform has to necessarily
> be executed by amcl? My odom source is RosAria.
>
> I also wanted to know if the transform tree I am looking forward to is
> actually useful for the execution of the navigation stack:
>
> map->odom->base_link->base_scan.
>
> I am a little bit confused because in amcl node's code I understood that
> the
> attempted transform was odom->map and no map->odom.
>
> 2. I have already set /map as my fixed frame and the particle cloud isn't
> displayed. In fact, the particle cloud never appears, even when I
> teleoperate the robot with my keyboard.
>
> Thank you very much for your help.
>
> Laura
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--
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827