User:Aeh84
From GICLWiki
(Difference between revisions)
(→create a map from log data and watch it on rviz) |
(→create a map from log data and watch it on rviz) |
||
| Line 18: | Line 18: | ||
$ roscore | $ roscore | ||
$ rosparam set use_sim_time true | $ rosparam set use_sim_time true | ||
| − | |||
$ rosrun rviz rviz | $ rosrun rviz rviz | ||
# make sure map is checked and subscribed to topic /map | # make sure map is checked and subscribed to topic /map | ||
| + | $ rosrun gmapping slam_gmapping scan:=base_scan | ||
$ 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 20:19, 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 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
sample line from gmap_tester.bag
[RUNNING] Bag Time: 125.202523 Duration: 90.602523 / 1239670987.745222
