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gmapping issues with laser pose

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I'm working on creating a server map using the tutorial: http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData The odometry data is being published, and I have a hokuyo utm-30lx laser scanner published as well. My robot is being modeled with a urdf file. I made sure the hokuyo was perfectly horizontal and then start recording my bag file with this: >rosbag record -O mylaserdata /scan /tf After the recording, it plays back into rviz fairly well. Even with all of the scan overlap, it still resembled the room recorded. The issue comes when I try to turn it into a map with: >rosrun gmapping slam_gmapping scan:=scan as soon as I start playing the bag file, it gives me this warning: [ WARN] [1384916667.376566157, 1384914870.078301371]: Failed to compute laser pose, aborting initialization ("base_link" passed to lookupTransform argument target_frame does not exist. ) This warning repeatedly keeps coming up as the bag is playing. I've also tried: >rosrun gmapping slam_gmapping scan:=base_scan _odom_frame:=odom But it gives me the same warning. 1. Am I not correctly recording my tf data into the bag file? Shouldn't the urdf provide the laser pose? 2. The robot_state_publisher is in the topic named '/tf'. Why isn't it my base link from my urdf file? rosbag wouldn't record my base link when I tried. 3. On a somewhat different note, if my odometry data isn't too accurate, what does it mean for gmapping and using the Navigation Stack? Advice would be greatly appreciated! Thank you. Edit: I've tried to create the map live with rviz. Similar to how the map was made here. http://wiki.ros.org/pr2_simulator/Tutorials/BuildingAMapInSimulation Unfortunately, it still gives me the same error. I thought the error came from the target frame, and tried setting that on rviz. Still nothing. I also double checked my urdf file, and I don't believe the issue is there. The laser scan is leveled to the laser scanner visualized modeled on the urdf file.

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