husky gmapping not receiving map

asked 2023-03-01 08:25:40 -0600

GiulioMartena
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I am running the Husky SLAM tutorial on the site (this one) and I cannot seem to make it work.

I compiled all the husky package from Github with catkin_make on my virtual machine running Ubuntu 20.04 and ROS Noetic; however, when I run roslaunch husky_navigation gmapping_demo.launch, the script gets stuck at [INFO] [...]: Requesting the map...

Suffice to say, this does not let me go on with mapping, since it does not receive any. Note that this is not a duplicate, since I already tried assuring that there is no mismatch between /scan and /front/scan topics.

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answered 2023-03-01 15:40:05 -0600

Davies Ogunsina

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updated 2023-03-01 15:41:01 -0600

You will need to provide a map to the launch file to be able to work. Check the launch file if there is a map_server node tag that so you will be able to provide a .yaml map file to that node.

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Hello, and thank you for your answer. Unfortunately the tutorial above does not say anything about a map; on the contrary, the gmapping demo is supposed to show how to perform mapping, in order to save it.

GiulioMartena ( 2023-03-02 07:14:53 -0600 )edit

Can I see what's in the launch file?

Davies Ogunsina ( 2023-03-02 07:24:06 -0600 )edit

Sure, here it is. It is the default one, I did not change anything.

<launch>
    <arg name="scan_topic" default="/front/scan" />
    <include file="$(find husky_navigation)/launch/gmapping.launch">
        <arg name="scan_topic" value="$(arg scan_topic)" />
    </include>
    <include file="$(find husky_navigation)/launch/move_base.launch" />
</launch>

GiulioMartena ( 2023-03-02 08:43:42 -0600 )edit

Do you have the gmapping package installed? And also what's the scan topic ?

Davies Ogunsina ( 2023-03-02 08:47:36 -0600 )edit

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answered 2023-03-02 09:11:02 -0600

GiulioMartena
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updated 2023-03-02 09:11:27 -0600

Solved it!

The Husky simulations need the LMS1xx support enabled. It was enough to do

echo "export HUSKY_LMS1XX_ENABLED=1;" >> ~/.bashrc

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