Easiest way to show travelled path on gmapping generated map

asked 2012-03-04 21:17:22 -0600

tom

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updated 2014-01-28 17:11:34 -0600

ngrennan
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I'd like to create and then export a map created with gmapping along with the path my robot has travelled to a graphic file. Do I need any additional packages for that, or it's just a matter of configuring gmapping? I'm running gmapping with a modified version of laser_scan_matcher as odometry source (it also publishes an \odom topic, not only a \tf from \odom -> \base_link).

Any hints appreciated.

answered 2012-03-04 21:22:54 -0600

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

This is basically a duplicate of this question. See my answer there for a possible solution to your problem.

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Thanks. I haven't found this answer before.

tom ( 2012-03-04 21:32:58 -0600 )edit

Thank you very much again. Works like a charm. BTW. I was unable to install hector_slam (hector_common, actually). hector_roscpp_introspections crashes saying: introspection.cpp:225: error: ‘struct boost::filesystem::path’ has no member named ‘native’. Any solutions? Diamondback, Ubuntu 10.04.

tom ( 2012-03-05 20:05:29 -0600 )edit

Oh ok, thanks for the heads up, I'll investigate this.

Stefan Kohlbrecher ( 2012-03-05 20:18:18 -0600 )edit

Also, I had to increase time ROS waits for /map -> base_link in hector_trajectory_server, trajectoryUpdateTimerCallback to ros::Duration dur (1.5); Otherwise poses container in /trajectory message was mostly empty in my system. In case people are using slower machines, this might be necessary.

tom ( 2012-03-05 21:30:47 -0600 )edit

I would also uncomment ROS_ERROR in the aforementioned method to leave a hint for users struggling with the same issue. But again, thanks for the software - hope constructive comments are always appreciated :).

tom ( 2012-03-05 21:32:50 -0600 )edit

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