gmapping with depthimage_to_laserscan
Hi everyone. I am relatively new to ROS. I have an Orbbec Astra camera, and I use the following line to make a node to obtain the images: $ roslaunch astra_launch astra.launch It finds my device, and I can see the depth and RGB images in rviz. Then I use depthimage_to_laserscan to get the laser scan data: $ rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw Again when I add 'LaserScan' in rviz, I can see the output in /scan topic. The next step is implementing gmapping, and my problem starts here. I have read a lot about gmapping needing tf to transform the coordinates, but I couldn't implement it (tried and all I get is "No map received" in rviz), and I have no idea how to do it. I would be very thankful if you help me with the transforms needed, and how to implement them.
Cheers!
Send us a screenshot of your connection graph - most likely gmapping is listening to a different topic
@MarkyMark2012 My problem is I don't know which transforms to use. I use a static_transform_publisher for base to camera, but have no idea how I should implement the second transform.
Like I say of you can send a screen shot of your map that should help - might be that gmapping is looking for a diff topic to what you're outputting on