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Measurement model for ultrasonic sensor (SLAM)

I have a task that sounds like this: “Implement terrain mapping by a mobile robot using two ultrasonic sensors and four wheel encoders.” To do this, I use the SLAM method on ROS Melodic and the ...
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TF issues with hector_mapping (reupload)

(I uploaded this a while ago but got no response whatsoever, so I'm uploading it again) I am trying to use hector_mapping so I can get odom data just from my LiDAR to make a map of and navigate around ...
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TF issues with hector_mapping

I am trying to use hector_mapping so I can get odom data just from my LiDAR to make a map of and navigate around my house. However, I'm getting intermittent errors with the base_footprint and ...
Flamethrower's user avatar
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2 answers
57 views

Map not being displayed in Rviz (from LiDAR data)

I am trying to implement autonomous navigation to my robot and have thus been working on the SLAM gmapping system. However, when I try to visualize the map on Rviz, two things happen: the odom frame ...
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I am building a path planning and obstacle avoidance bot using ros, lidar, etc . Can someone please provide a python program to implement?

I am building a robot to perform path planning using djikstra algorithm and obstacle avoidance using gaussian potential field. The robot uses raspberry Pi 4 with ubuntu 20.04 os containing gazebo, ros ...
Mark28's user avatar
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depthimage_to_laserscan not publishing

I am running node using rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/depth_image where /depth_image is a ...
user39799's user avatar
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2 answers
108 views

/map topic not receiving any data (but still published)

I'm using Ubuntu 20.04 on a Raspberry Pi 4 B and I'm trying to use the /map topic with my LiDAR. However, when I open Rviz to visualize it, a "Warn" error appears that says "No map ...
Flamethrower's user avatar
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I am trying to run slam_gmapping on a separate device as my sensor nodes (robot), I can subscribe to the topics, but my published map is empty?

I am new to ROS and I am working on a project for school. I am using the HiWonder JetAuto (based on the Jetson Nano) to run my sensor nodes. Specifically the RPLidar A1, Astra Camera Pro Plus, IMU, ...
therealvenga22's user avatar
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1 answer
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ROS topics and Rviz not working for LiDAR gmapping (/map)

I have a Raspberry Pi 4B with Ubuntu 20.04 and ROS Noetic 1.16.0 and I'm trying to use Gmapping with the /map topping with my LiDAR (an EAI YDLIDAR X4 with its driver, I think Radar_Con_V1.3.5.). I ...
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Gmapping Map and Scan Misalignment Issue with Ackermann Robot

I’m encountering an issue with gmapping in ROS where the generated map visually looks good, but when I use it as an occupancy grid with the robot’s actual location, the scan data does not align ...
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ROS/ROS2 mapping and path following with skid-steering robot and Velodyne 3D laser

I built a skid-steering robot and I would like to implement a path-following application. I would like to use the Velodyne to create the map and then specify a path on it to be followed by the robot. ...
Marcus Barnet's user avatar
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1 answer
102 views

ROS Window Gmapping Install

Is there a way to install gmapping on ros windows? It doesn't seem to be in the chocolatey package list. I also tried to run catkin_make myself, but a ninja error occurred. ============================...
MobileRobotics's user avatar
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1 answer
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ROS Raspberry Pi <-> PC Communication error

I'm asking this question because I'm trying to get LiDAR sensor values from a home-made robot using a Raspberry Pi and run SLAM on a PC, but I'm having trouble running it. Raspberry Pi and PC are ...
MobileRobotics's user avatar
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could gmapping pkg work in UWSim?

Hey guys,I am trying to do path planning using UWSim + RViz.And now there's something wrong with mapping.I followed some tutorials which is implemented by Gazebo+RViz and I also get the necessary ...
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1 answer
8 views

What is the purpose of splitting SLAM odom and EKF odom frames in waypoint_nav?

I have a robot somewhat similar to the clearpath husky . In their gmapping launch file, they have their odom frame set to 'odom_gmapping'. config shown here: ...
Chase's user avatar
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How to make ira_laser_tools work with AMCL/GMCL and GMapping?

I am currently on ROS Noetic Ubuntu 20.04 LTS. I am not doing this in simulation, although I believe you will run into the same problem if done in simulation. The problem is that GMapping or AMCL/GMCL ...
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1 answer
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How to change number of particles in gmapping package?

I would like to ask is this is the correct coding to change the number of particles of the gmapping package in launch file? ...
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1 answer
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dynamic gmapping in ROS

it is a general question. Gmapping seems to be used only for creating a map of the static environment. Once created, it doesn't account for any changes - you add a new object, but it's being ignored ...
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2 answers
883 views

No Map Received in Rviz while trying out gmapping

Hi! Newbie here. I was trying to run gmapping on our own model but I can't seem to solve this problem in rviz, it says no map received. My global fixed frame is odom and map is subscribed to /map ...
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1 answer
36 views

slam_gmapping Message Filter dropping message with dynamic trasform

I'm using a fork of slam_gmapping package for ROS2: https://github.com/Project-MANAS/slam_gmapping As we all know, it requires the odometry tf transformation. Specifically, it requires the following ...
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1 answer
30 views

Can odometry be calculated with LaserScan alone?

I am building a robot and implementing autonomous navigation using gmapping, amcl, and move_base. From my understanding the amcl package compares the map to lidar data (sensor_msgs/LaserScan) to ...
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1 answer
41 views

Transform time issue (gmapping & stage)

Hello, I am running Ubuntu 20.04 (kernel 5.11.0) on a x64 AMD Dell Inspiron. I use ROS release Noetic with the following relevant package versions: ...
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1 answer
15 views

Simulating cleaning map in ROS

I am trying to simulate a roomba using ROS. For planning the path and to figure out what area to clean next, I would like to maintain a map where the known cells are the ones visited by the robot and ...
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1 answer
7 views

map / navigate on a different axis / plane

Hello everyone, first of all I would like to thank you for such a great forum, it has helped me solve many issues in the past! I have questions that could be caused by my luck of understanding how the ...
user avatar
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2 answers
96 views

sensor_msgs/LaserScan.msg ==> range_max should be discarded

Hi all, I have been dealing with slam_gmapping package and I have reached good results so far.(I created my map by the package) But I have a question about sensor_msgs/LaserScan.msg specifically. For ...
user avatar
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1 answer
26 views

Mapping by gmapping isn't correct

Hi, I'm doing the mapping process by gmapping. At the beginning, my robot can recognize a wall very well, but when i spin the robot and face into empty space, it suddenly appears a line on the map in ...
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1 answer
18 views

Using multiple laser scans for gmapping

Hi, I'm trying to do the SLAM mapping with gmapping on my robot, which has 2 lasers on it, in the font and in the back of the robot. So how can I use 2 laser scans for gmapping, since gmapping only ...
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1 answer
15 views

Robot jumps after the initial estimate with gmapping

I have a gmapping SLAM method coupled with robot_localization to provide the map-odom, odom-base_footprint transformation respectively (ROS1). When I power up the system, the generated map is quite ...
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1 answer
2 views

Does Localization has nothing to do with the range of laser?

Hello, I'm working with ROS kinetic in Ubuntu 16.04. I just made a map following the g-mapping, with Hokuyo's LiDAR of UBG-04LX-F01. And I wonder if the angle ranges when making the map can be ...
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1 answer
11 views

apt-get vs git clone

Hello everyone Im new to ROS platform and im about to build my first real world robot using ROS. M question might sound bad or something but i have to ask since im only a beginner. which is the best ...
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2 answers
155 views

Occupancy grid not displaying in Rviz

I have a custom model which I created from my xacro files and I can move around using a teleop node. BUT I now want to map a virtual room and I added the AMCL and Gmapping nodes to my launch file but ...
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1 answer
58 views

updating the map partially in a dynamic environment

Hello, I have generated map.pgm with gmapping using teleoperation and RPLidar, and I am ...
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1 answer
3 views

Scan data stuck at origin point

Hello, I'm a relatively new ROS user trying to get a Clearpath HUSKY to create maps using a Hokuyo LIDAR. I'm using a headless Ubunto running ROS Kinetic. I'm am able to connect and drive the system ...
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1 answer
23 views

[SOLVED] gmapping fails to build map

Hello everyone, I've been struggling on this one for a week now. I am using the husarion rosbot 2.0 on ros melodic and I'm trying to build a map while driving the robot around. I don't record a bag ...
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1 answer
39 views

map does not update with respect to base_link

Hello guys, can someone tell me why the map is not updating with respect to the displacement in base_link? The map keeps building at one place, whereas I can see the laser data moving wrt base_link, ...
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1 answer
23 views

Saving map with the path into map.pgm

I want to save the mapping path of the robot as it maps, by first visualizing the path on Rviz and then saving the poses into an array. I am planning to have the robot use this mapping path again and ...
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1 answer
25 views

Turtlebot SLAM gmapping parameter

Hi, I am quite new to gmapping and I am seeking some advice regarding the gmapping parameter. So, I did a gmapping and the result (the map) is not quite good enough. As you can see in the attachment, ...
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1 answer
196 views

slam gmapping for ROS Noetic

Hello, I wanted to know if the slam gmapping is available on ROS Noetic? I've tried doing: sudo apt-get install ros-noetic-gmapping And the terminal outputs: ...
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1 answer
5 views

How to get the room dimensions from a map build using gmapping?

I have a map build using gmapping. It contains the PGM image and a yml file. This map is built for the tuttlebot3 house environment. Now, I want to get the size or the dimensions of each room in the ...
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1 answer
13 views

Octomap package not saving the map

Hello, I'm using octomap package in Kinetic distro in combination with the gmapping package in order to perform 2D SLAM and build a 2D map and also a 3D map with Octomap. Both are working fine, the 3D ...
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1 answer
11 views

How can I get the same map size for all SLAM algorithms?

Which TurtleBot3 you have? [x ] Waffle Which ROS is working with TurtleBot3? [ x] ROS 1 Kinetic Kame Which SBC(Single Board Computer) is working on TurtleBot3? [ x] Raspberry Pi 3 Which OS you ...
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1 answer
40 views

How to implement autonomous navigation with Google Cartographer?

I am trying to implement autonomous navigation using 2 lasers and a depth camera. IMU and odometry data will also be available. Basically, I'd like to have the simulated robot spawned in some gazebo ...
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1 answer
24 views

gmapping params width/height/resolution

Distro Kinetic SO Ubuntu 16.04 Hello, i am trying to create a tool for mapping for Windows/Android but i first need to unsderstand how mapping works. i have a launch file to start gmapping, i am ...
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1 answer
10 views

Rviz Unstable Map Gmapping

Hi. I am trying to make a gmapping. I have a Rplidar. 16.04 Kinetic Kame. My Rviz map is unstable. How can I solve this problem https://www.youtube.com/watch?v=u96081BlgmA bringup.launch ...
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1 answer
14 views

gmapping overrides map

Hey Guys, I need some help to create a map with gmapping. I use ROS Kinetic and a differential drive robot with a YDLidar X4. On the robot is a raspberry Pi 3 and a teensy for the motors. Gmapping is ...
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1 answer
20 views

How to edit a map programmatically?

Hi, Situation: i am currently on Ubuntu, using ROS Melodic. I work with a self built robot, that has a laser scanner. With the gmapping package I create a map, that ...
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1 answer
13 views

Set x,y goals and move the robot

I have a robot on mecanum wheels and I installed on it a sensor able to provide x,y,z coordinates of its position at 10Hz. Morever, I placed four beacons in the four corners of the room in order to ...
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1 answer
15 views

Can I use a vertical laser on my robot?

I think I am in big robot doo-doo. Here is my "situation": I have been building a robot for the past 5 years or so, and one of the design decisions I made at the onset of the project was to ...
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1 answer
160 views

gmapping Detected jump back in time of. Clearing TF buffer

Hi everyone I am running gmapping with my own bag (in which I drive turtlebot with turtlebot_telop node, drive the robot go around the simulation environment.) Then I start roscore, set use_sim_time ...
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1 answer
30 views

how gmapping gather odom data?

Hi I am using stage_ros to simulation slam. The Gmapping works but I noticed that stage_ros is publishing "nav_msgs/Odometry" information under the topic /odom. While the gammping node is ...
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