projecting the map in rviz using map_server

asked 2014-04-02 02:38:57 -0600

RSA
100 ●9 ●11 ●14

I want to use map_server as in this link:

wiki.ros.org/map_server

I built my map using mapper3 (basic)

the map should be projected in Rviz grid and should occupy it all, the centre of the map using mapper3 ( basic) should be the centre of the Rviz grid.

The problem is that the map is always shifted (the centres are not the same ) The centre of Rviz grid is the left down corner of the map image ( the image only occupy one quarter of the grid). How can I fix this problem?

Also, I have the error of No transform from [map] to [odom]

answered 2014-04-02 03:40:33 -0600

demmeln
4306 ●32 ●45 ●69

updated 2016-01-27 16:36:53 -0600

One thing you could do is manually edit the origin of the map in the yaml file. See http://wiki.ros.org/map_server#YAML_f...

EDIT: Could you update your question to include the launch file(s) you are using. Moreover, what is the fixed_frame of rviz set to?

EDIT2: It actually sounds like there is no transformation from your fixed frame to the frame_id of your map. Try chaning the fixed frame in rviz to map, or whatever your map's frame_id is.

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The ymal file has the following image: testmap.png resolution: 0.1 origin: [0.0, 0.0, 0.0] occupied_thresh: 0.65 free_thresh: 0.196 negate: 0 I tried to change the origin to [-10 -10 0] or tp [10,10,0] but nothing changed, it gives the same result.

RSA ( 2014-04-05 22:53:47 -0600 )edit

I too facing the problem did you fix it and how?