Difference between revisions of "User:Aeh84"

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robot notes for anna by anna
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= Registering pointclouds in ROS with PCL for [[Robot_Lab_(Spring_2012)]] =
 
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== pages ==
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* [[Robot_Lab_(Spring_2012)]]
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* [[ROS_(Robot_Operating_System)]]
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* [[Navigation]]
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== pointcloud registration ==
 
== pointcloud registration ==

Revision as of 14:57, 15 June 2012

Contents

Registering pointclouds in ROS with PCL for Robot_Lab_(Spring_2012)

pointcloud registration

$ rosmake register_pointclouds $ roscore $ rosrun register_pointclouds register $


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

registration

mapping from point clouds