Questions tagged [mapping]
mapping is the construction of a spatial representation by using the sensory information perceived
555
questions
0
votes
2
answers
51
views
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 ...
- 21
0
votes
2
answers
49
views
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 ...
1
vote
0
answers
17
views
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 ...
- 11
0
votes
2
answers
27
views
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 ...
- 1
1
vote
0
answers
26
views
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 ...
0
votes
0
answers
13
views
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 ...
- 101
0
votes
0
answers
8
views
problem on generating map ros-noetic
I am struggling to find out the reason what i did wrong or what i am missing for the past 1 week. I developed a basic 4_wheel_bot with diff_drive_controller. Here's my git hub link. I want to generate ...
- 5
3
votes
1
answer
84
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 ...
- 33
0
votes
3
answers
118
views
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 "...
- 5
0
votes
0
answers
44
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 ...
- 1
0
votes
1
answer
122
views
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 ...
0
votes
0
answers
39
views
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 ...
- 1
3
votes
1
answer
109
views
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 ...
- 31
0
votes
1
answer
390
views
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 ...
- 1
0
votes
0
answers
25
views
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 ...
- 315
1
vote
2
answers
160
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?
- 315
0
votes
1
answer
68
views
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 ...
- 315
0
votes
1
answer
9
views
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 ...
Cyril Jourdan
0
votes
1
answer
12
views
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 ...
hunterlineage1
0
votes
1
answer
6
views
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 ...
hunterlineage1
0
votes
0
answers
22
views
Efficient map representations for path planning using elongated robotic vehicles
I am working on the map representation for an elongated autonomous vehicle, and I am looking into sparse map representations like VoxBlox, OctoMap, VDBFusion etc. I see in the research on path ...
0
votes
1
answer
3
views
[map_server in Noetic]Map_server could not open testmap.yaml error has occured!
I wrote my question because I have looked at past ROSAnswers and could not find a solution.
Also, I have recently started learning ROS and would appreciate any pointers as to what I may be doing wrong....
donguri
0
votes
3
answers
6
views
how to publish map in ros2 galactic?
Hi
I installed ros galactic on ubuntu 20.04 using this bash script (https://github.com/turtlebot/TurtleBot4Lessons/tree/main/installation), then I ran turtlebot4 simulation in depot and map its ...
dastan_forum
0
votes
1
answer
66
views
Localization by comparing current lidar scan with previous lidar scan
I have managed to use an ICP algorithm to produce a relative pose difference between a new lidar range scan and the previous lidar scan. When I tested it on individual scan pairs, the results look ...
0
votes
1
answer
2
views
How to save map by using map_server package according to the topics?
I used the multi_map_merge package to merge map from robot 1 and robot 2. But when I used rosrun map_server map_saver -f ~/map, the map is only saved the merge map ...
MirulJ
0
votes
2
answers
3
views
How to publish map continously?
I am using map_server out-of-the-box to publish a pre generated map on the topic /map. But it only publishes the map once on the ...
electrophod
0
votes
2
answers
13
views
ROS2 plan a trajectory without mapping (without lidar)
Hello, first of all, for a little bit of context, i'm using ros2 foxy with ubuntu 20.04 and gazebo 11.
I'm still learning how everything works together so, if i'm saying something wrong, i would ...
Bastian2909
0
votes
1
answer
1
view
Loading map using a service call
Hi,
I am having trouble understanding or creating service calls for loading maps using map_server. This link provides idea of how to call it from the terminal. But unable to understand how can I call ...
Flash
1
vote
1
answer
562
views
slam_toolbox mapping is not life-long?
I've tested slam_toolbox producing life-long environment mapping, and not quite satisfied with the results.
Below you can see a fragment of the mapping. I used a 1x0.5m case to test the changing map ...
- 15
0
votes
1
answer
3
views
slam_toolbox incomplete mapping
Installed slam_toolbox on Foxy, Ubuntu 20.04:
sudo apt install ros-foxy-slam-toolbox
Set up the yaml like:
...
nigeno
0
votes
2
answers
281
views
Dynamic mapping without localization in ROS
I have a /scan topic coming from a 2D lidar scanner.
The task is to receive a mapping of the dynamic environment. It is assumed that the position of the scanner is always known, so localization is not ...
- 15
0
votes
1
answer
104
views
How to make gmapping dynamic, or advise any other methods to create mapping of a dynamic environment
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 ...
- 15
0
votes
1
answer
31
views
Include information on the environment in map-aware particle filter
I have a robot equipped with some sensors for estimating the movement in a 2D environment (IMU, odometer). The robot is free to move within an area delimited by some walls. The map of the environment (...
- 101
0
votes
1
answer
2
views
How to create waypoints for nav2 based on saved .pgm map?
I need to create a set of waypoints for my robot to go through and perform a specific task. My plan was to manually map my environment, than save it using nav2_map_server, generate an array of ...
sdudiak01
0
votes
1
answer
2
views
get pose(x,y) of any unoccupied cell from 2D occupancy grid
I wish to be able to calculate the pose(x,y) of any unoccupied grid in the occupancy grid from the occupancyGrid message type here . I wish to use the map ...
distro
0
votes
2
answers
241
views
Mobile Bot Maze Solving
I am using ROS melodic on ubuntu 18.04
I have a simple 2 wheeled mobile bot, with a lidar attached to it. It is kept at the entrance of a maze (any maze). The bot has to "solve" the maze, i....
- 131
0
votes
1
answer
1
view
How to visualize the laser scan data as a local/global map?
Hi, my robot in ros melodic has a lidar and I want to visualize the laser scan data.
Previously I used the local_costmap, but since it became more complicated and now it consists not only of the laser ...
ymag
0
votes
1
answer
553
views
World and Map Frame for a real robot
I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and ...
- 85
0
votes
0
answers
44
views
offset in gridmap
colleagues, i am currently viewing Cyrill Stachniss's course on SLAM and also doing the exercises. At the moment i am doing an exercise on occupancy grid mapping and there is some strange offset ...
- 1
0
votes
1
answer
2
views
Navigation2:[navfn_planner] Original error: GetCostmap service client: async_send_request failed
ROS version: Dashing
I've launched the navigation2 on the physical robot
After I set the initial pose, both navfn_planner and map_server show some error
...
JonyK
0
votes
1
answer
1
view
How does SLAM handle a changing environment?
Through SLAM, the map can be built for navigation.
But the environment usually changes.
When the environment, how does SLAM handle it?
For exmaple,
a) something is added into the environment
b) ...
wyfeng2013
0
votes
1
answer
2
views
is there some problem when using the 2d map built by slam in uneven ground?
I think the 2d map has't the height item.
Is there some problem when using the 2d map built by slam in uneven ground?
Originally posted by wyfeng2013 on ROS Answers with karma: 19 on 2021-11-19
Post ...
wyfeng2013
0
votes
1
answer
1
view
the relationship between slam and (static)map
Usually, robot will be started with slam and build the map.
I know there are two main funcitons in slam, one is judging the positon of the robot itself, and the other is building the map.
My question ...
wyfeng2013
0
votes
1
answer
1
view
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 ...
ekptwtos
0
votes
1
answer
4
views
Unable to load the map
when i run this command:roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/kannan/catkin_ws/src/tb3_house_map/tb3_house_map.pgm
im receiving following error
ROS_MASTER_URI=...
vidu98
0
votes
1
answer
2
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 ...
AlexandrosNic
0
votes
1
answer
1
view
How to create ground truth for the map from ROS
Hi everyone. I am new to ROS and I am using Octomap to create a 3D map of a lab. I would like to know how to create ground truth for the map from ROS and how to compare the map that I produce using ...
Bigby
0
votes
1
answer
157
views
Using Google Cartographer library standalone
I am working on a project that requires the analysis of the results of different SLAM libraries with respect their accuracy on building a map. Right now, I am more interested in the development with ...
- 13
0
votes
1
answer
1k
views
Calculate transform from different poses
My robot is at a starting pose $s_0 = (x_0, y_0, \theta_0)$ and, while moving, I receive a sequence of motion measurements $[\mu_1, \mu_2, \: ... \: \mu_n]$, where $\mu_i = (\Delta x_i, \Delta y_i, \...
- 189
0
votes
1
answer
9
views
Autoware.Auto best way to create a PCD map
Separating this from the question here: https://answers.ros.org/question/378634/autowareauto-ros2bag-compatibility-with-point-cloud-map-builder/
What is the best way to create a PCD map? In the other ...
sisaha9