Difference between revisions of "User:Aeh84"

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(mapping from point clouds)
(mapping from point clouds)
Line 37: Line 37:
 
* http://www.ros.org/wiki/pointcloud_registration
 
* http://www.ros.org/wiki/pointcloud_registration
 
* http://www.ros.org/wiki/pointcloud_to_laserscan
 
* http://www.ros.org/wiki/pointcloud_to_laserscan
 +
* https://code.ros.org/trac/wg-ros-pkg/browser/stacks/object_manipulation/branches/hri12/object_manipulator/src/object_manipulator/point_cloud.py?rev=52799
 +
* https://code.ros.org/trac/wg-ros-pkg/browser/stacks/object_manipulation/branches/hri12/object_manipulator/src/object_manipulator/convert_functions.py?rev=52799

Revision as of 19:37, 8 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

  • regular click: rotate the view
  • shift-click: move the view or focal point
  • host click / scroll: zoom

create a map from log data and watch it on rviz

$ roscore
$ rosparam set use_sim_time true
$ rosrun rviz rviz
# make sure map is checked and subscribed to topic /map
$ rosrun gmapping slam_gmapping scan:=base_scan
$ rosbag play ~/ros/gmap_tester.bag
$ rosrun map_server map_saver

topics

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

mapping from point clouds