I am using robotino and have no Laser Scanner. I am not having any topic publishing named /base_scan.
But I want to user slam_gmapping to scan and create map from the bag file.
i used the code below:
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rosparam set use_sim_time true
rosrun gmapping slam_gmapping scan:=base_scan
rosbag play --clock myRobotinoBagFile
rosrun map_server map_saver -f /tmp/mymapfile
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In my bagfile I have /sonar_scan which is of type sensor_msgs/LaserScan ... but i do not know what is this actually.
I have /odom (nav_msgs/Odemetry), /distance_sensors(sensor_msgs/pointclooud) , /cmd_val(geometry_msgs/Twist) etc.
But the slam_gmapping requires topic of type sensor_msgs/LaserScan.
As I do not have /base_scan , what is the solution to use this method for creating map.
Is there any converter i need which can publish /odom or distance sensor data into LaserScan type.?(well it was a wild guss)
Thank you all in advance.
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