User:Aeh84

robot notes for anna by anna

pages

• Robot_Lab_(Spring_2012)
• ROS_(Robot_Operating_System)
• Navigation

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

• http://kos.informatik.uni-osnabrueck.de/3Dscans/
• http://www.ros.org/wiki/pointcloud_registration
• http://www.ros.org/wiki/pointcloud_to_laserscan