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Hi, I am trying to make a map using cartographer and I do not know how to make the robot model. Is there a tutorial for the robot model or can i make a map without a robot model? I am using the backpack_2d that came with the cartographer and i modified it to not include odometry and changed num_laser_scans = 1, num_multi_echo_laser_scans = 0 in the lua file.


Originally posted by Jnus on ROS Answers with karma: 3 on 2017-12-25

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You can load a map in ROS without having a robot model, check out the map server: http://wiki.ros.org/map_server

To model robots, you need to learn XML and more specifically URDF (Universal Robot Description Format), best place to start is here: http://wiki.ros.org/urdf

After you learn URDF check Xacro too, it's like URDF with some extra macros.

It seems you are trying to do SLAM since you are using cartographer, I'd recommend you learn more about the ROS environment before.


Originally posted by bpinaya with karma: 700 on 2017-12-27

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