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How to provide odometry from Gmapping?

gmapping

asked 2013-01-09 14:19:55 -0600

Astronaut
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Hello

I would like to try the Gmapping package. But have doubt and question regarding the odometry. So how Gmapping provide an odometry? I have IMU and laser as sensor sources. So what do I need in order that Gmapping publish the odometry ?? Any documentation or example for helps?

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answered 2013-01-09 14:32:19 -0600

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gmapping doesn't provide odometry information, instead, u have to publish odometry information towards gmapping package, which is performed in tf transformation.

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ok. Thanks. Any documentation or helps regarding that tf transformation??

Astronaut ( 2013-01-09 14:34:17 -0600 )edit

u can check http://www.ros.org/wiki/tf and http://www.ros.org/wiki/tf/Tutorials

Kent ( 2013-01-09 14:36:12 -0600 )edit

ok. Thanks. And regarding Gmapping??Any documentation or examples?

Astronaut ( 2013-01-09 15:13:49 -0600 )edit

http://www.ros.org/wiki/gmapping (www.ros.org/wiki/gmapping)

Kent ( 2013-01-09 15:15:48 -0600 )edit

So I have to subscribe to TF massage in order to get the position , yes??

Astronaut ( 2013-01-10 17:00:48 -0600 )edit

in fact, u have to publish TF message so that the Gmapping stack can work properly.

Kent ( 2013-01-10 18:44:43 -0600 )edit

and subscribe to laser scan message or??

Astronaut ( 2013-01-10 20:12:37 -0600 )edit

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Asked: 2013-01-09 14:19:55 -0600

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Last updated: Jan 09 '13

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