[ros-users] GMapping Question

[Steven Martin]

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 at kaist.ac.kr<mailto:jsharp at kaist.ac.kr>, jsharp83 at gmail.com<mailto:jsharp83 at gmail.com>
Homepage: http://isnl.kaist.ac.kr<http://isnl.kaist.ac.kr/>
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