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The localization quality during a SLAM session though is quite good as long as your robot isn't slipping on ice or being pushed around. … SLAM Toolbox does SLAM. There is localization during SLAM (the "L") and mapping (the "M"). This is quite good. It depends on what you're looking for. Do you care about global correctness? …

the first is if removing nodes and then remapping the areas is hurting the map quality. I utilize the same function that the lifelong mapping uses to remove nodes and call it via a service that ether …

Most commonly, for the new relative poses of the nodes containing depth data after you optimize your pose-graph, you re-generate your dense representation using that stored sensor data. So each time y …

This is a 2D laser scanner SLAM method. It needs 2D laser scanner like angular data coverage. …

Lifelng mapping in SLAM Toolbox is in the experimental namespace and documented as an experimental-only feature. There are definitely gaps in it. …

SLAM Toolbox uses a MessageFilter that won't return laser scans to the callback unless an appropriate odometry transformation can be made. … The issue you're running into is that you don't have "enough" setup to actually run the SLAM Toolbox stack, you need odometry. You can fake this out for the purposes of a demo (probably?) …

Or is it just talking about 2D SLAM with .pgm and .yaml map style for localization and using 3D LaserScans for determining obstacles and putting it into the costmap while navigating? … I am trying to use cartographer in SLAM (and possibly in localization, too). Comment by stevemacenski on 2019-10-10: it makes no assumption what so ever on the map …

is slam possible for a hobbyist or is it only possible inside money loaded universities ? I think that boils down alot of the other comments. SLAM is hard. … Many times, these are use-case specific and may not be as general as lidar slam. …

If you create a simple node (or add to your existing autonomy node) a TF subscriber, you can simply obtain the robot pose by obtaining the map to base_link transformation at your desired capture rate …

Jazzy hasn't been released yet, there are packages missing such as this and many others.

They are removed, but it takes some data to do so. We store a set of hit vs misses for each cell in the grid. If you went over it and laser scans saw it in lets say 10 iterations, it would take at lea …

It will make the SLAM problem proportionately slower since its doing more work, but that's the nature of what you're asking it to do. …

That's a generic CMake error that you don't have geometry_msgs installed in your container. apt install ros-melodic-geometry-msgs

You probably don't have the proper TF tree setup for this to work, so the node is telling you that its dropping data because it can't do anything with it. You need to provide laser scanner frame to ba …

I think you have the plan down - its the details of making it happen :-) You can also just send the raw data off the phone and then publish it via ROS on the main computer (if the phone isn't the main …