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Hello

I would like to try the Gmapping package. But have doubt and question regarding the odometry. So how Gmapping provide an odometry? I have IMU and laser as sensor sources. So what do I need in order that Gmapping publish the odometry ?? Any documentation or example for helps?


Originally posted by Astronaut on ROS Answers with karma: 330 on 2013-01-09

Post score: 0

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gmapping doesn't provide odometry information, instead, u have to publish odometry information towards gmapping package, which is performed in tf transformation.


Originally posted by Kent with karma: 140 on 2013-01-09

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Astronaut on 2013-01-09:
ok. Thanks. Any documentation or helps regarding that tf transformation??

Comment by Kent on 2013-01-09:
u can check http://www.ros.org/wiki/tf and http://www.ros.org/wiki/tf/Tutorials

Comment by Astronaut on 2013-01-09:
ok. Thanks. And regarding Gmapping??Any documentation or examples?

Comment by Kent on 2013-01-09:
www.ros.org/wiki/gmapping

Comment by Astronaut on 2013-01-10:
So I have to subscribe to TF massage in order to get the position , yes??

Comment by Kent on 2013-01-10:
in fact, u have to publish TF message so that the Gmapping stack can work properly.

Comment by Astronaut on 2013-01-10:
and subscribe to laser scan message or??

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