Questions tagged [mapping]

mapping is the construction of a spatial representation by using the sensory information perceived

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Flickering OccupancyGrid data in RViz2

I'm implementing my own custom message of type nav_msgs/msg/OccupancyGrid to visualize grid-based quantities in a local map (namely virtual pheromones). Back in ROS Noetic, my implementation worked ...
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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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Mapping and Localization for Racing using 3D Point Cloud Data (Cone-based Track) [closed]

I'm working on a project involving autonomous racing on a track marked with cones. I have 3D point cloud data from a LiDAR sensor and want to achieve both mapping and localization of the vehicle ...
Adwaith Kv's user avatar
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Is it possible to update a map without a navigation stack?

As per the title, I'm trying to update a map (nav_msgs::msg::OccupancyGrid) without use slam_toolbox, nav2, etc. For fun, I'm trying to do mapping with a basic RGB ...
CursedRock17's user avatar
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Saved map fro Slam_toolbox won't show up in RViz

I have been following this tutorial and he is able to load his saved map back into RViz with no issues but when I do the exact same thing I just get an empty map? Not really sure what I am doing wrong ...
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Scaling 3d map after it is built

Suppose you are running an algorithm which doesn't provide absolute scale during initial map construction. Is there a way to integrate scale information after the fact assuming all points are ...
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Iterative Closest Point mapping of 3D lidar pointclouds

I know there are several posts on ICP and I have already gone through several of those. However, I am unable to get a decent enough result in my case. This post is basically to gain in insight into ...
ASH's user avatar
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ros2 map not received when using slam_toolbox

I'm working with ros2 humble and I have my robot which I can spawn successfully on gazebo and RVIZ with the set up ready of the LIDAR and the IMU sensor. The thing is when I launch: ...
dani santana's user avatar
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Issue with Continuous Map Creation Using YDLidar X2 and ROS2 Humble SLAM Toolbox

I'm currently facing an issue while working on my robotics project. I have set up a dynamic transform for Lidar data from Map-> odam-> base_footprint->base_link. Following this, I run the ...
Tharani's user avatar
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Reconstruct 3d positions of markers relative to each other without camera localization

(Hopefully this question fits here. I'm absolutely new to this field, this is my first question to the community, so please handle my question accordingly. Thanks!) Problem to solve: I have around 20-...
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Feasibility: Pointcloud-Mesh Registration to determine unknown transforms?

Hello friends, I have a series of timestamped 2D laserscan cross sections from a mobile robot driving from one end of a straight pipe to another. The robot travels roughly around the same speed, but ...
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Probabilistic Robotics by Thurn: Velocity motion model. Detailed derivation for eq. 18

In the book, The equation for finding center of circle is denoted in eq. 5.17, which is as $$\begin{pmatrix} x^* \\ y^* \end{pmatrix} = \begin{pmatrix} x \\ y\end{pmatrix} + \begin{pmatrix} -\lambda \...
unwantednoise's user avatar
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How to update robot_radius and footprint dynamically for motion planning

Hi everyone I am new to using ROS2. So I have a project in which my robot car has to attach a big box to it and then bring it to a certain location. But after attaching the box the robot car while ...
joker13's user avatar
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Does ORB-Slam3 perform better than ORB-Slam2?

I was trying to compare ORB-Slam2 performace with ORB-Slam3 performance. Consider following comparison from ORB-Slam3 paper (columns with numbers correspond to different sequences from EuRoC dataset): ...
Mahesha999's user avatar
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In a Blank Webots World, How to Operate the Mavic

I need to operate the mavic drone in a world other than its demonstration but when I do so the robot will just crash to the ground. I thought it was the world parameters or the controller that was ...
Léo's user avatar
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Knowing whether the robot is delocalised or not by observing relevant data

The way that we know if a robot is delocalised is by opening RViz and observing the laser's scan data with respect to the static map on the ...
user37666's user avatar
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[slam_toolbox]: Failed to compute odom pose

I'm trying to run my simple robot in the Flatland simulator, ROS2 Humble. The problem occurs when I try to execute the command ...
Tomas Novotny's user avatar
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Mapping using 3d model of an arena

so I am participating in a rover making competition where they have given us a parasolid file of the arena. Our rover is primarily going use the raspberry pi as the brain with most likely ROS as its ...
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SLAM using ydlidar g4

I am using a ydlidar g4 on ros2 foxy (Ubuntu 20.04). I succeeded at getting the view of the LiDAR on rviz2 following this tutorial: https://github.com/YDLIDAR/ydlidar_ros2_driver. But I want to ...
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object inclusion inside the map

I'm into a project wherein i have to detect the object using using yolov5 and put that object inside the map .Can anyone here please provide me a pathway to do so,It will be very useful.
Sidharth Jeyabalsing's user avatar
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rviz pre built map from turtlebot3 is only showing a half

I am using WSL ROS noetic, the prebuilt map that is showed by rviz is only a half like on the picture, anyone know why? I tried using the construct workspace also, and it was showing properly. And ...
Pikkuri's user avatar
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Is there a way to do a 3D map only with a 2D Lidar and IMU sensor in ros2?

I'm working in ros2 humble with a 2D lidar and an IMU sensor and I'm willing to do a 3D mapping with this things. I have already done a 2D mapping using RF2O pkg (that gives me an odometry only with ...
Thiago Blanco's user avatar
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DVL as a ranging sensor

I am trying to use a Doppler Velocity Log (DVL) as a ranging sensor. The DVL has four acoustic beams with known poses and ranges. This makes it possible to estimate 3D points on the seabed (if the ...
Apo's user avatar
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Multi robot SLAM problem

I'm trying to make two robots work in ROS Galactic with no luck so far. As far as I know the approach is to use namespaces. In order to make this I have namespaced everything (nodes, frames, topics, ...
Lucas's user avatar
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how do i create a /map frame?

I have the following tf tree, but I'm missing the /map frame. Where does it come from? What is supposed to publish it?
nolan's user avatar
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SLAM but without actually driving the Robot?

I am just starting with SLAM and have to implement SLAM to get a dimensions (map) of an indoor space. I have looked at the turtlebot3 slam and slam_toolboox packages with algorithms like gmapping and ...
Rushabh's user avatar
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Robot getting spawned at the corner of map

using ubuntu 18.04 melodic i am currently trying to do amcl with my robot with a generated map from gmapping my map now cannot be spawned normally and the robot is alw at the corner , please help me , ...
tim's user avatar
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how can the world to map transform be calculated

Given the origin of the map in lat,lon, yaw, pitch and roll how can one calculate the transform from world to map? Here are the steps I have done: calculate the ENU to ECEF transform ...
Ahmed Sobhy's user avatar
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ROS1 working with map_server/change_map

I am currently working on my bachelor's thesis involving changing the map of a robot working in a multi-floor environment. Right now, I want to change the current map published to /map topic. I ...
Konopes's user avatar
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Should global costmap have an obstacle layer?

I recently started using the NAV2 stack and I am still trying to understand basic concepts. As I understand it, obstacle avoidance and therefore local path re-planning should be done by the controller ...
Pantelis Manouselis's user avatar
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Lidar /scan rotating with chassis

I have a robot controlled by ros2_control differential controller and on top I've mounted an A1M8 lidar. I'm using a raspberry pi with ROS Humble and I'm trying to do mapping with slam toolbox. In the ...
cosmin bucur's user avatar
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ROS2 Map not received when using nav2_bringup

I'm currently using the TurtleBot2 on Ubuntu 22.04 Humble and successfully generated a map with ros2 launch nav2_bringup navigation_launch.py. I was able to use the ...
DJ1NN's user avatar
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GPS+Navigation2 : Issues navigating with an empty map after success with a pre-built map: "Received plan with zero length"

I've been working on a project using the Navigation2 stack to navigate a robot through GPS waypoints. When using a pre-built map, the robot successfully navigates to all waypoints. However, I ...
Marcus Vinicius's user avatar
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Decomposition and Gridding of a map

I am looking for a package to make a graph/grid. I did slam a map and there is the original screenshot of it. I would like to have something like the next photo, red squares presenting the cells, and ...
Michalis's user avatar
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SVO 2.0 - is there any way to save/load a map?

I was looking for an indoor SLAM algorithm to run on a robot and came across SVO 2.0 which looks very impressive: https://github.com/uzh-rpg/rpg_svo_pro_open But from a brief look it doesn't seem to ...
JassD's user avatar
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Mapping for maze solving robot [closed]

I'm trying to implement a program to find the shortest path for a maze solving robot competition but I can't understand how to do the mapping. I tried Breadth first Search algorithm that takes in a 2D ...
Miriam Mathew's user avatar
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LiDAR Mapping Methods for a straight section of featureless environment (straight sections of pipe, tunnels etc)

Are there lidar mapping methods(algorithms/software packages) available that can be used to map featureless environment like straight sections of pipes? (It could use imu/wheel encoders to estimate ...
Vineet Pandey's user avatar
3 votes
1 answer
104 views

Autonomous Mapping help!

I have a robot that uses odometry and Lidar. Im using both Nav2 and slam_toolbox in order to manually create the map and then navigating through it. My question is, Is there a way to make the robot ...
Danana's user avatar
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Lidar/laser scan moves when the bot is moving while generating map

I have been trying to generate a map using lidar/laser scan data in my 4_wheel_bot with the help of slam_gmapping package. When i start the simulation the output of the terminal shows "...
Vasanth's user avatar
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217 views

offline mapping with slam_toolbox does not publish /map

I am trying to obtain an offline map by using slam_toolbox with the F1TENTH car. Setup on the car is ros foxy and ubuntu 20.04 First, I collected rosbag of all topics by ros2 bag record -a Then runned ...
taparang's user avatar
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Combining Multiple Sensor Data for Costmap Generation in NAV2

I am currently developing an off-road navigation system using NAV2 and various sensing modalities. Our setup includes two 3D Velodyne Lidars and a 2D SICK Lidar, each mounted at different orientations ...
Marcus Vinicius's user avatar
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Cartographer on multi robots simulation not running

I am currently trying to set up a ROS2 foxy multi robots simulation. However I'm facing an issue, the first instance of cartographer that I launch works. But if I try to launch any more instance, they ...
Mechaick's user avatar
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Why visual SLAM is seldomly used in autonomous driving?

In research called Occupancy Network by Tesla, the occupancy map is constructed by the deep learning method. We know that visual SLAM can compose maps like Octomap, either. And Octomap can be used for ...
Mr.parker's user avatar
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SLAM Toolbox Mapping Issue?

I am currently using ROS2 Humble and RP Lidar. I want to use SLAM with this so I am trying the Slam toolbox. So first I am doing: ros2 launch rplidar_ros rplidar.launch.py Then in another terminal, I ...
kathan's user avatar
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Synchronize GPS orientation with cameras

I'm interested in using GPS system to generate ground truth for evaluation of some SLAM systems I am testing. I'm confused on how I can initialize the location and orientation of the GPS unit to be ...
FourierFlux's user avatar
1 vote
2 answers
335 views

GPS to Cartesian

I'm interested in turning GPS position into Cartesian, I want to then transform it so the starting point is the origin. Anyone have experience with this?
FourierFlux's user avatar
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How does dense mapping/voxel occupancy grid map work with bundle adjustment?

When running for example some version of Orb Slam with stereo vision you're using sparse features for tracking but you can also infer a full depth map. I am curious how you use that full depth map to ...
FourierFlux's user avatar
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robot_localization /map /odom drift

Hello everyone, I use ROS2 Foxy along with robot_localization. I have a differential wheeled robot with odometry and 2 GPS rtk for position and heading. The sensors work properly independently. I have ...
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Processing pointcloud2 using ros node with both publisher and subscriber

I am trying to process a pointcloud2 being generated by the /map topic, which I play from a rosbag file containing the topics /tf, /map, /ssl_slam/trajectory topics. By process, I mean I want to ...
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Subscribing and publishing to the same topic (/map) in a single python ros node

My goal is to process a PointCloud2 and visualize it in RViz. I have rosbag data collected. This rosbag file includes /map, /tf, /ssl_slam/trajectory topics. The /map topic is in the form of ...
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