Difference between revisions of "User:Aeh84"

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(create a map from log data and watch it on rviz)
Line 20: Line 20:
 
  $ rosrun gmapping slam_gmapping scan:=base_scan
 
  $ rosrun gmapping slam_gmapping scan:=base_scan
 
  $ rosrun rviz rviz
 
  $ rosrun rviz rviz
 +
# make sure map is checked and subscribed to topic /map
 
  $ 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 20:14, 2 May 2012

robot notes for anna by anna

Contents

pages

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
# make sure map is checked and subscribed to topic /map
$ rosbag play ~/ros/gmap_tester.bag
$ rosrun map_server map_saver

topics

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

sample line from gmap_tester.bag

[RUNNING]  Bag Time:    125.202523   Duration: 90.602523 / 1239670987.745222