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Questions tagged [mapping]

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

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Problem with laser_scan_matcher usage

I'm trying to use the laser_scan_matcher package with a robot that do not publish its odometry, neither has a laser scan sensor. I'm using the "depthimage_to_laserscan" package to get a '...
Ascensor's user avatar
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24 views

SLAM Toolbox map size too small

I am working out of a simple 4 walled gazebo world with a 2 wheel differential drive robot similar in size to the turtlebot3. I am using the nav2_bringup package to launch the nav2 nodes and the slam ...
Abhi's user avatar
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Robot Freezing and Hopping while navigating with slam_toolbox

I'm currently facing an issue with my robot's navigation using the slam_toolbox. I intend to perform SLAM in a large empty outdoor environment like a parking lot, so my initial setup reflects this. ...
skatellite's user avatar
1 vote
2 answers
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SLAM_TOOLBOX , topic /map is empty

I’m attempting to run the slam_toolbox. My setup includes ROS2 Humble, Raspberry Pi 4, and RPLIDAR A1. Previously, I encountered an issue with a terminal message like: [async_slam_toolbox_node-1] [...
Ivan Mokiets's user avatar
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[Slam Toolbox]Map is overlapping and doesn't make loop_closure

Required Info: Operating System: Ubuntu 22.04 Installation type: binaries ROS Version : ROS2 Humble Version or commit hash: release version Laser unit: RP Lidar We mapped it on the map above and ...
zarqu0n's user avatar
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2 answers
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nav2 - costmap without SLAM map

The map that slam-toolbox is supplying is too noisy. I would like to have nav2 construct its costmaps - global and local - using the laserscan only, and to disregard the map the SLAM is supplying. ...
amit zalman's user avatar
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Pathfinding with hector_slam

I am currently using hector_slam on my surface vehicle and I need to navigate it through an unknown set of obstacles. I need to implement a dynamic pathfinding algorithm that will take the vehicle ...
sivhaslee's user avatar
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slam toolbox: how to use interactive markers to fix heading of posegraph

I have a rosbag with tf and scan topics. I am able to create the map and save the posegraph, but after calling the slam toolbox node with the posegraph as a parameter, I'm not able to use the ...
Sunart24's user avatar
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Costmap boundaries

Is there a way I can manipulate a costmap so that the outermost cells of the inflated obstacles in the x axis are counted as the map borders. I think I can write a script that does that using Python ...
sivhaslee's user avatar
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Significant Degradation in SLAM Performance with Reduced LiDAR FoV

I am using ROS2 Humble and trying to run a simulation with Gazebo. I run a SLAM algorithm with slam_toolbox for my robot. The mapping and localization were good when I had a 360° LiDAR, but when I ...
Arad's user avatar
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Launching TB3 Cartographer causes map origin to be shifted in RVIZ

I am creating a multi-robot cartography and routing system using ROS2 Humble. When I launch each robot's nav stack, everything looks good. As soon as I launch the cartographer_ros node, the map on ...
Razgriz117's user avatar
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Storing occupancy grids locally for later use

I would like to know if there is any standard way of storing occupancy grids and other mapping formats for usage in later simulations or runs of the system. I have explored using ros bags and just ...
pdaranda661's user avatar
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34 views

Nav2 and Robot_localization: /map Topic Is Not Getting Published

I tried to create a navigation algorithm using nav2 and GPS data for the global odometry. With the help of the robot_localization package, I successfully created global odometry data by fusing the ...
Arad's user avatar
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slam_toolbox - Failed to compute odom pose (No map received in rviz)

I'm trying to do mapping using slam toolbox and it's on a real robot. I don't have ros2 control since the supplier already provided the hardware interface with the robot launching file without a URDF. ...
Ahmed greynoon's user avatar
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Converting a rosbag.db3 file to .pcd

I've been trying to convert a rosbag which i've generated after running the kiss-icp algorithm (so output is sensor_msg/msg/PointCloud2) into a 3D map of the environment, by converting it into a .pcd ...
SLAMenjoyer's user avatar
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slam_toolbox & Turtlebot 3 House Simulation: localization jumps to different room

I am trying to simulate a Turtlebot3 robot in Gazebo within the turtlebot3_house.world in the turtlebot3_gazebo package on ROS 2 ...
tk811's user avatar
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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 ...
Flamethrower's user avatar
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Turtlebot 4 Simulation- Rplidar not working in Ros galactic

I have problems with de simulation with ros galactic, I can't to generate a map, I believe that the problem is the rplidar, because when I ran the next command ...
Andrius Jaya's user avatar
1 vote
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35 views

Running SLAM without encoders

I am new to the concept of SLAM and mapping, however I ordered a robot vehicle platform which I bought here so that I can explore and practice it on the platform. I also got a 2d liDAR, depth camera ...
Daniel Abayomi's user avatar
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2 answers
72 views

ROS install for rplidar

i plan to install ROS in may raspberry 4 8gb question what version of ubuntu support ROS because 20.04.3 is old version and not available in ubuntu website please help me
Badang Zamora's user avatar
1 vote
2 answers
109 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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How can Navigation with openStreetMap osm

After I publish osm_cartography and can see the map in rviz, what do I do next to make the robot navigate through the map? Do I use move_base or some other package? If I use move_base, how can I load ...
Ahmed Moataz's user avatar
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1 answer
47 views

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 ...
juxyper's user avatar
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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 ...
Flamethrower'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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2 answers
142 views

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 ...
Balen's user avatar
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8 views

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 ...
FourierFlux's user avatar
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15 views

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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3 answers
621 views

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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144 views

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
1 vote
1 answer
53 views

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-...
andZab's user avatar
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15 views

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 ...
emi's user avatar
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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
1 vote
2 answers
247 views

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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1 vote
0 answers
135 views

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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1 answer
26 views

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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0 answers
23 views

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
1 vote
1 answer
1k views

[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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0 answers
43 views

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 ...
Vjay's user avatar
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0 answers
170 views

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 ...
AnaxGT's user avatar
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2 answers
102 views

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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0 answers
31 views

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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1 answer
277 views

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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0 answers
21 views

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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0 votes
1 answer
174 views

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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2 answers
298 views

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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1 vote
2 answers
105 views

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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2 answers
89 views

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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19 views

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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0 answers
73 views

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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