Difference between revisions of "User:Aeh84"

From GICL Wiki
Jump to: navigation, search
(rviz view controls)
Line 10: Line 10:
 
* host click / right click / scroll: zoom
 
* host click / right click / scroll: zoom
  
== how to create a map from log data ==
+
== create a map from log data and watch it on rviz ==
 
<pre>$ roscore
 
<pre>$ roscore
 
$ rosparam set use_sim_time true
 
$ rosparam set use_sim_time true
 
$ rosrun gmapping slam_gmapping scan:=base_scan
 
$ rosrun gmapping slam_gmapping scan:=base_scan
 +
$ rosrun rviz rviz
 
$ rosbag play ~/ros/gmap_tester.bag
 
$ rosbag play ~/ros/gmap_tester.bag
 
$ rosrun map_server map_saver
 
$ rosrun map_server map_saver

Revision as of 19:30, 29 April 2012

Contents

robot notes for anna by anna

tbd

  • can rosparams be set in a config file somewhere and auto-loaded?
  • it seems the /map frame in rviz is different from the /map topic? because rviz can't find the /map frame even when the /map topic is being published.

rviz view controls

  • left / regular mouse button: rotate the view
  • middle button (how?): move the view or focal point
  • host click / right click / scroll: zoom

create a map from log data and watch it on rviz

$ roscore
$ rosparam set use_sim_time true
$ rosrun gmapping slam_gmapping scan:=base_scan
$ rosrun rviz rviz
$ rosbag play ~/ros/gmap_tester.bag
$ rosrun map_server map_saver

topics

  • gmapping:
    • /base_scan
    • /clock
    • /map
    • /map_metadata
    • /slam_gmapping/entropy
    • /tf