Refresh map on navigation

asked 2012-10-29 00:47:56 -0600

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Hello

I'm using the navigation_stack for make a robot move autonomously. So far I've managed to make the robot move and avoid obstacles, but only if I use a reference map. With this reference map, the robot uses the AMCL package and then gets its localization on the map.

What I get now is that the robot go from one point to another without a known map. To fix this, I thought of using a laser to generate a map periodically, and transfer this map to AMCL package.

The problem is that I don't know how to pass the map built to AMCL. I tried to post on the topic /map the information of the constructed map, but then when I visualize it with Rviz see only gray. Besides the move_base package tells me:

Request for map failed, trying again ...

So there's something I'm missing.

Maybe sending the map with the map_server would be easier, but I haven't found documentation of how to use it from the code.

Can anyone tell me how I can transfer this map constructed to navigation_stack? Or if there is an easier way to get what you want.

Thanks in advance.

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answered 2012-10-29 22:49:32 -0600

g.aterido

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I found the answer looking into the gmapping code: https://code.ros.org/svn/ros-pkg/stacks/slam_gmapping/tags/slam_gmapping-1.2.5/gmapping/src/slam_gmapping.cpp

    map_.map.info.width = smap.getMapSizeX();
    map_.map.info.height = smap.getMapSizeY();
    map_.map.info.origin.position.x = xmin_;
    map_.map.info.origin.position.y = ymin_;
    map_.map.data.resize(map_.map.info.width * map_.map.info.height);

  }

  for(int x=0; x < smap.getMapSizeX(); x++)
  {
    for(int y=0; y < smap.getMapSizeY(); y++)
    {
      /// @todo Sort out the unknown vs. free vs. obstacle thresholding
      GMapping::IntPoint p(x, y);
      double occ=smap.cell(p);
      assert(occ <= 1.0);
      if(occ < 0)
        map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = -1;
      else if(occ > occ_thresh_)
      {
        //map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = (int)round(occ*100.0);
        map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = 100;
      }
      else
        map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = 0;
    }
  }

  //make sure to set the header information on the map
  map_.map.header.stamp = ros::Time::now();
  map_.map.header.frame_id = map_frame_;

  sst_.publish(map_.map);
  sstm_.publish(map_.map.info);

I didn't index correctly the data

(MAP_IDX(map_.map.info.width, x, y))

And also I wasn't publishing the metadata info in a separated topic. Thanks Lorenz for the idea ;)

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answered 2012-10-29 01:49:37 -0600

Lorenz

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Use gmapping or another node for SLAM instead of amcl. gmapping generates a map from laser and odometry data and publishes it on the /map topic so that it can be used by the nav stack.

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Well, I'm using MRPT for doing the SLAM. The reasons why I use MRPT insted a node of ROS are: 1) The laser I have is a kinect fake laser, and thus the range is only 7 meters. With this reduced range gmapping gives me problems. 2) In the future I want to make a 3D SLAM, and MRPT gives me more tools

g.aterido ( 2012-10-29 21:30:20 -0600 )edit

(continue) How can I publish the data without using gmapping or other node of ROS? I mean, what's the way I should publish the map info for making the navigation stack get the map?

g.aterido ( 2012-10-29 21:36:06 -0600 )edit

1

You basically do the same as gmapping does, i.e. publish a map on the /map topic and publish the /map -> /odom transform for the robot position. (You might have /map -> /base_link internally and need to transform that). Do not start AMCL in that case.

dornhege ( 2012-10-30 00:36:41 -0600 )edit

Oh really? Thanks CAP

EdwardNur ( 2019-12-13 04:12:40 -0600 )edit

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