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hello,

I would like to know the necessary of "rosparam set use_sim_time true " when I build exact map by using gmapping and rviz.

When I used "rosparam set use_sim_time true " before "rosrun gmapping slam_gmapping scan:=base_scan", my map becomes error " No map received" in rviz. If I don't use "rosparam set use_sim_time true " ,The error don't appear.

If I don't use ""rosparam set use_sim_time true " , Can I build exact map?


Originally posted by sasadasd on ROS Answers with karma: 104 on 2016-09-21

Post score: 0

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1 Answer 1

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It is not necessary if you are not using rosbag to play back sensor data.

My setup is:

  • a real robot P3DX
  • a laser
  • a cellphone running Android APP to teleop robot

I didn't set the param 'use_sim_time'. I just ran gmapping and teleop robot to build the map, and then used map_saver to get the map and .yaml file.


Originally posted by Shay with karma: 763 on 2016-09-22

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by sasadasd on 2016-09-22:
Thank you for your helpful infomation!

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