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Hi all, I have a bag with scanner data. I am not trying to build a map.
THe scanner is in /scan.
So I ran
rosparam set use_sim_time true
roscore

rosrun gmapping slam_gmapping scan
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link laser 100

Nothing seems to be published in /map.
In rviz, I see for map... transform:No transform from [] to [laser]
What am I missing?
From the doc, I can see base_link → odom is needed.. How?
Why is that needed? Is not the purpose of slam to determine just that? (the base_link relative to odom)?


Originally posted by SeekerOfRos on ROS Answers with karma: 1 on 2016-01-29

Post score: 0

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In order to use gmapping, you have to generate an odometry estimate by integrating your encoder and/or inertial measurements, and publish the estimate as a TF transform from base_link --> odom. See my answer on another question for more details about how particle filter SLAM algorithms like gmapping work:

http://answers.ros.org/question/227425/why-gmapping-package-requires-the-base_link-odom-tf/?answer=228259#post-id-228259


Originally posted by robustify with karma: 956 on 2016-03-04

This answer was ACCEPTED on the original site

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