[ros-users] Grig Map using Poineer Robot
William Woodall
wjwwood at gmail.com
Wed Aug 4 01:55:40 UTC 2010
Hi safdar, I recommend you start with the slam_gmapping node's tutorials (
http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData).
Once you can generate a map from the given example bag, then you can
experiment with the pioneer. You can either rosbag the required information
(/tf: provided by the p2os node, which is the node that interfaces with the
pioneer, and the /scan topic which is provided by sicklms), or you can
generate the map in real time. I recommend starting with the rosbag
technique because it is more like the tutorial. Also, there is some
information on how to setup and collect the data you need here:
http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData#rosrecord.
With this setup you have to teleop the robot around to collect data for the
map. If you want your robot to automatically explorer for you I recommend
looking at Bosch's explore pkg: http://www.ros.org/wiki/explore
Hope that helps,
<http://www.ros.org/wiki/explore>
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
William Woodall
Graduate Software Engineering
Auburn University
w at auburn.edu
wjwwood at gmail.com
256-345-9938
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
On Mon, Aug 2, 2010 at 8:02 AM, safdar_zaman <safdaraslam at yahoo.com> wrote:
>
> Hi all,
> I want to make grid map using poineer.I run roscore,slam_gmapping, rviz and
> sicklms. What else node I need to run for having grid map???
> thanks in advance
> safdar
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