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Hi, I am new in ROS and I want to do a SLAM using gmapping package with "laser scan" and "odometry data". In the first step I just want to see the current map provided with laser scan in fixed location (x = 0, y = 0, theta = 0) in rviz. I have laser scan topic but I don't have a odometry data yet, so I want to make a fake odometry data. For this I think I should publish a TF data with all zeros. I think I should do some thing like this link:

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Am I in the right path? could you please tell me what should I do in details? or show me some references?


Originally posted by AliAs on ROS Answers with karma: 63 on 2014-09-10

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If you're using a laser scanner, using hector_mapping can be easier than gmapping. Launch the mapping program and publish a 0,0,0 static transform between base_link and laser to account for your non existent odometry and you should be set.

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_tf" args="0 0 0 0 0 0 base_link laser 100"/>

Just my two cents.


Originally posted by SaiHV with karma: 275 on 2014-09-10

This answer was ACCEPTED on the original site

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