SLAM navigation tutorial

Software
21

Yeah I’ve just done that.

Bag File GDrive

To answer your question about errors from the serial bridge. No I’m not getting any errors… Everything is working properly.

22

There is something strange that I will need to investigate for some more time.
Anyhow, I managed to create map with your bag file. Steps to reproduce:

roscore

rosparam set /use_sim_time true

rviz

rosrun gmapping slam_gmapping _linearUpdate:=0.1 _angularUpdate:=0.05 _temporalUpdate:=-0.1 _map_frame:=gmap _odom_frame:=map

rosbag play 2018-07-05-11-24-08.bag --clock map:=null -s 50

There is something that causes gmapping to work properly only if first 50 seconds of bag file are skipped. As soon as I find out the reason, I will update here.

Regards,
Łukasz

1 Like
23

Thanks for your effort.

Are there any updates on this weird bug/problem?

Kind regards.

24

Hi Sobieski,

It turns out that there were some changes to the RpLidar driver. It needs one additional parameter to start properly alongside with gmapping, edit your launch file like below:

<node if="$(arg use_rosbot)" pkg="rplidar_ros" type="rplidarNode" name="rplidar">
    <param name="angle_compensate" type="bool" value="true"/>
</node>

Regards,
Łukasz

1 Like
25

Hi Łukasz,

thank you very much. That solved it.

Regards,

Sobieski