How to modify the slam_gmapping node on a turtlebot?
I want to modify the slam_gmapping node on my Turtlebot (Kobuki) (Ubuntu 12.04).
I have a working catkin workspace and have built my own nodes that work with slam_gmapping, but now I want to modify it.
I downloaded the slam_gmapping source to my workspace and tried to build it, but get this error...
-- ==> add_subdirectory(slam_gmapping/gmapping) CMake Error at /opt/ros/groovy/share/catkin/cmake/catkinConfig.cmake:72 (find_package): Could not find a configuration file for package openslam_gmapping.
Set openslam_gmapping_DIR to the directory containing a CMake configuration file for openslam_gmapping. The file will have one of the following names:
openslam_gmappingConfig.cmake openslam_gmapping-config.cmake
How does one "set openslam_gmapping_DIR"? is that a line in some file? But even if it were, neither of those suggested files exist on this system.
this is the failing line:
find_package(catkin REQUIRED nav_msgs openslam_gmapping roscpp rostest tf)
It seems openslam_gmapping package does not exist on this machine (at least not with that name) in any workspace. Maybe it was built special for the Turtlebot under a different name? I don't have any need to build the openslam_gmapping package, just to reference the built one. I know it exists somewhere because I can successfully build maps and "rosrun gmapping slam_gmapping".
Any suggestions?
I thought this might be an issue of needing a proper "overlay". I followed the instructions on http://wiki.ros.org/catkin/Tutorials/workspace_overlaying (substituting slam_gmapping for the tutorials) but got the same error.
@gershon hi, gmapping pacakge uses libraries built from openslam_gmapping. clone openslam_gmapping and overlay if you want to edit files of openslam_gmapping.
Hi bvb. I'm quite new at this. By "clone openslam_gmappnig" I think I need to use subversion (svn) to get it on my machine, right? Or is there another location? Also I thought "overlay" was a ROS/Catkin concept... how does it work with other projects?
i mean "git clone https://github.com/ros-perception/openslam_gmapping.git" or if you are not using git, just download source as zip , extract and use.