I have modified the GMapping code by Openslam.org, it is being compiled correctly. Now when I run the gmapping package with the bagfile created from Intel dataset in the following sequence, it is giving warnings followed by a strange error.
Sequence of command execution,
roscore
rosparam set use_sim_time true
rosrun tf static_transform_publisher 0 0 0 0 0 0 odom base_link 100
rosbag play –clock intel.bag
rosrun gmapping slam_gmapping scan:=laser
The warning message and error is as follows--
[ INFO] [1493025756.604426852, 976052875.616820005]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0 0 -0.002458
m_count 0
Rimita is registering First Scan
[ WARN] [1493025756.610961272, 976052875.626896914]: TF to MSG: Quaternion Not Properly Normalized
Laser error: processScan Dysfunction
Laser error: processScan Dysfunction
Laser error: processScan Dysfunction
Laser error: processScan Dysfunction
I am not understanding how to solve the error, please suggest a solution if anyone has faced the same.
Thank you.
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