(ros/navigation) How to build a map using logged data to create maps with records

1 How to build a map using logged data create maps with recorded

Description: How to create a two-dimensional map with recorded transformations and laser scanning data.

Create a map

1. If as the source check (relative to the binary installation), build the gmapping:

  Rosmake gmapping

2. Get a package. There are two options:

1 Creating a package with a robot

2 Download an existing package to do the test

Either way, you will get a package.

3. Start the core

4. Ensure that Use_sim_time is set to true before other nodes are started

<pre name= "Code" class= "JavaScript" >     rosparam Set use_sim_time True

5. Start Slam_gmapping, it will receive a laser scan (in this case, on the Base_scan topic), and create a map:

Note: On PR2, the Odom coordinate system is called odom_combined. Use this command:

6. At a new terminal, start playing back the bag file, Levy slam_gmapping provides data:

Wait for Rosbag to complete and exit.

7. Save the new map to disk using the Map_saver of the Map_server package:

Now you have a map, which is saved locally as MAP.PGM. Can be viewed with any image browser (gimp,eog,gthumb, etc.);

Download a test Package

Use the wget command to download the test package,

wget http://pr.willowgarage.com/data/gmapping/basic_localization_stage.bag

Create your own package

1 Start the robot, release laser scanning and conversion data, joystick manipulation enabled (different robot details are different);

2 start recording scanning and conversion (note that the scan topic may vary depending on the robot):

The file will be written in the current directory with the name ' Mylaserdata_<date>-topic.bag '

3 Drive the robot one turn. Common recommendations:

? Try to limit the speed of rotation because they are the hardest to scan for matches. It is useful to reduce the maximum allowable speed of the joystick.

? "See" With the LiDAR visualization machine, and if the laser is not visible, it will not be on the map.

? Humans usually don't have problems moving around unless he walks with the robot in the laser field.

? Loop closure is the hardest part. When closing the loop, make sure to drive more than 5-10 meters to get a large overlap between the start and end of the loop.

4 Kill the Rosbag instance, and note the name of the file that was created.

Change: View the progress of creating a map

If you don't mind waiting until the results are recorded and the map process is complete, you can see the progress in Rviz again:

Add map display, set topic/map

Author:wsh
Email: [Email protected]

(ros/navigation) How to build a map using logged data to create maps with records