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Questions tagged [slam]

SLAM (Simultaneous Localization And Mapping) refers to a robot building a map of its environment through it's sensor data (mapping) and keeping track of its own position in that map (localization) at the same time.

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Has anyone tried simulation gmapping and navigation (amcl) with ardupilot-sitl-mavros-gazebo-rosmelodic, if so will you provide the detailed steps?

if not on ros melodic, on ros-noetic? a tutorial on this is lot helpful, thanks. (drone-simulation)
Vamshi K's user avatar
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Unable to locate package ros-jazzy-slam-toolbox - Cant find slam toolbox in ros jazzy

Hi can anybody help me to find the package or install this slam toolbox manually? This is my code for trying to install it... ...
Silas Lohmann's user avatar
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Advantages of full BA vs Pose Graph

Generally to reduce computational load, you can forgo full BA and do pose graph optimization with loop closure. Local odometery is still calculated from sensor input(IMU, Visual etc) but the landmark ...
FourierFlux's user avatar
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Conversion from body frame to NED frame

I have following Python code: ...
RajS's user avatar
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ROS2 Laser Scan rotates with the robot in RVIZ

I am currently working on developing a ROS2 application for autonomous navigation using AMCl I came across an issue Video that shows the LaserScan rotating in a similar fashion to the robot when I use ...
Vrushab Jain's user avatar
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slam_toolbox messages dropped, unable to map properly

When I run slam_toolbox, these are the messages I receive and the LiDAR data is not being updated constantly (stops every 3-4 seconds), hence the mapping does not work well. ...
robotint's user avatar
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Exporting Lidar SLAM output to LAS from RViz and Aggregating Trajectories

I hope everyone is well. I ran SLAM using ROS on a PCAP from the Hesai OT128. The PCAP was converted to a bag file so that it can be inputted into the Kitware SLAM library. I was able to get a SLAM ...
Dev K'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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Laser beam rotate and move with base link

When i run gmapping or amcl and move base The laser beam rotate with base link I use robot localization to fuze odom and imu When move robot the laser beam move with the robot https://youtube.com/...
Ahmed Moataz's user avatar
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1 answer
38 views

Low quality map with RTAB-Map

I'm trying to create a map via differential drive robot with RGBD camera Intel RealSense D435i and wheel odometry using RTAB-Map. The map is low quality (right picture). Also, I have a map which ...
ArtemKondratev's user avatar
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1 answer
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Navigating While Mapping - Ackermann vehicle

I've been trying to do this https://navigation.ros.org/tutorials/docs/navigation2_with_slam.html but with a ackermann vehicle. The localization and the mapping seem off. Here is a video that shows ...
user37959's user avatar
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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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Problems using nav2 on a real robot

I' m trying to use nav2 on a real robot. However, I have several problems such as: After I had launched launch_robot.launch.py and ...
Hadi'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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Confusion on optimizing variable time-offset for VIO SLAM

I was reading the following paper on how you can incorporate variable time offset for a camera in VIO: https://openaccess.thecvf.com/content_ECCV_2018/papers/Yonggen_Ling_Modeling_Varying_Camera-...
FourierFlux'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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SLAM TOOLBOX: Moving Interactive markers chrashes the node

I am using the SLAM toolbox with O. I serialized a map that contains a big area; the map is about 7391 x 14586 mapped with a resolution of about 0.05. This size is because I started the mapping ...
Sunart24's user avatar
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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 ...
Stargazer'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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1 answer
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Segmentation fault in interactive_slam

I was trying to run interactive_slam on my WSL, since I used docker before but it had extremely poor performance (3FPS). So, I compiled everything just like I did on docker with ROS noetic, but when ...
SLAMenjoyer's user avatar
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1 answer
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ROS2 on RaspberryPi4 - odom frame for nav2

I've built a ROS2 robot on RaspberryPi4 wit hubuntu 22.04 and Humble. Im planning to add nav2 and slam toolbox to my robot but I'm having some problems with the wheel controller and hardware interface....
Rosario Laface's user avatar
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TurtleBot3 tutorial (SLAM) - Camera data is not published (/camera_info)

I am following the Turtlebot3 tutorial about SLAM at the following link. https://emanual.robotis.com/docs/en/platform/turtlebot3/slam/ (Symptom) I could run the SLAM node, but in RVIZ, there is a ...
Sooyoung Moon's user avatar
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SLAM Toolbox with hilly terreins

is it possible to map hilly terrains with SLAM Toolbox, 2D LiDAR, IMU and the odometry provider by the robot itself? Or do I need to search for another algorithm? Or for mapping 3D environments I need ...
Mattia Dutto's user avatar
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Running ros1 packages with ros2 data

I'm trying to run different lidar based SLAM methods in order to produce a map of an environment. I've recorded my data in both .db3 and .mcap formats, but a lot of SLAM methods (an example being ...
SLAMenjoyer's user avatar
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1 answer
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sensor fusion with many sensors and different update rates

It seems like there is no shortage of sensor fusion libraries that can fuse basic common odometric sensors like IMUs and GPS, but none that can fuse from an arbitrary number of sources, especially ...
TheDarkSaint's user avatar
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61 views

Issues while setting up EKF for Ackermann Steered Robot

I have an Ackermann steered robot with optical flow sensor mounted at an offset from base_link x = 0, y = 0.4 , z = 0.15 and ...
Rakshit Soni's user avatar
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3 answers
107 views

SLAM with IMU with no wheel odometry [closed]

I am working on an autonomous surface vehicle that will navigate through a parkour of buoys. Since I am a beginner at ROS and I mostly depend on tutorials to learn harder topics such as SLAM and ...
sivhaslee's user avatar
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0 answers
85 views

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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120 views

[slam_toolbox]: Failed to compute odom pose leading to "No map received in Rviz"

My team and I are currently working on an autonomous rover. I am using ROS2 iron with Ubuntu 22.04. Our rover is equipped with a RPLIDAR which is publishing on the /scan topic. We use this topic and a ...
Guilhem ALLIROT's user avatar
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What are my camera interface options to integrate with Jetson for ORB-SLAM3? [closed]

I want to try out drone visual odometry using a thermal camera and ORB-SLAM3 running on ROS and Jetson. The device would likely be Orin Nano or AGX Xavier but I'm flexible on this and will use ...
Alex Bausk's user avatar
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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 ...
Flamethrower's user avatar
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38 views

Configuration of ROS2 Slam Toolbox

I am having trouble configuring SLAM toolbox to work well for my application. I have a very detailed laser scan, but it seems that a lot of that detail is not making it onto the map. For some context, ...
Eric Sobczak's user avatar
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1 answer
145 views

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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25 views

How are positions of sensors represented in GTSAM?

I have been reading GTSAM documentation and I'm confused on how the positions of sensors are taken into account. Ex I have a base_link and a set of 5 sensors, 1 IMU and 4 Stereo Cameras and I have ...
FourierFlux's user avatar
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11 views

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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27 views

Nav2 Gps-RTK without map - Navigation with Waypoint

I have a problem with the local costmap and global costmap concerning the position of the sensors, the error generated is ...
Salvatore Occhipinti's user avatar
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2 answers
128 views

ROS2 Localization mode in slam_toolbox

I am currently comparing different localization methods for nav2 on my ROS2-humble workspace. Right now, I'm trying to integrate slam_toolbox's localization_launch.py with nav2. I've generated ....
oblivious_turtle21's user avatar
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1 answer
53 views

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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Spawn entity error while trying to launch my robot in gazebo. I am using ros2 humble

I am using the package from github repository: https://github.com/kosigab/salford_robot While launching the given launch file with the given robot as in the repo, there is no problem it works fine. ...
Mr.Meeee's user avatar
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2 answers
68 views

Can't produce map with namespaced slam-toolbox

I am trying to simulate a robot with a namespace using slam-toolbox but I can't get it to publish a map and I keep getting the message ...
Veronika's user avatar
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2 answers
53 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 ...
Flamethrower's user avatar
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0 answers
7 views

What paramertization is used for Bundle Adjustment?

You have three choices it seems for optimization when running bundle adjustment. Euler Angles Quaternions Axis-Angle What is the normal paramertization to use? Quaternions need to be normalized if ...
FourierFlux's user avatar
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48 views

Move_base keeps crashing with -9 exit code when I set nav goal

I'm relatively new to ROS and am struggling with a problem I'm hoping someone can help with. I'm running ROS Noetic on a PI4 with Ubuntu. The issue is that move_base seems to keep crashing every time ...
LukeD's user avatar
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/scan is published, but /map is not

I am trying to run a multi-agent robot swarm using physical TurtleBot3's, with ROS2 Humble. I'd like to use Nav2 and SLAM Toolbox to navigate and map an area. I'm also interested in map merging, so I'...
firthc's user avatar
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Two Turtlebot3 using slam toolbox to create their own map in a Gazebo World

This is my first post in this forum. I am new in the field and currently working on a project. My goal is to have two turtlebot3 in a gazebo world and allow them to create their own map using slam ...
noob_robot_31's user avatar
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31 views

Lidar shows very few points. RPLIDAR A2M8

I'm using an RPLidar A2 for Slam on my robot but after mapping, when I am trying to localise, the lidar shows very few points. Is this normal? This lidar supposedly has a 12m range. Because it sees ...
Crab00189's user avatar
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2 answers
89 views

Trouble with SLAM Toolkit

I'm looking to convert a ROS1 project setup to ROS2. In ROS1, I was using a LIDAR, Transforms, Laser Scanner Matcher, and slam_gmapping. With ROS2, I am still using a LIDAR, Transforms. I had to ...
jgauthier's user avatar
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1 vote
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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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Convert rosbag file into carmen log file

Is it possible to convert a rosbag file to a slam log file in carmen format? I have the bag file available and I need CARMEN style logfiles in a format like the follow: ...
C24's user avatar
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61 views

Overlapping while mapping with slam toolbox (Even with good odometry)

Required Info: Operating System: Ubuntu 22.04 Installation type: Binaries ROS Version ROS 2 Humble Version or commit hash: Not sure? Laser unit: RP Lidar A2 Steps to reproduce the issue ...
Crab00189's user avatar

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