在laserCallback函数中每超过map_update_interval_时间就要调用updateMap更新地图函数,周期性更新一次地图。在initMapper函数中,getOdomPose从openslam中获取当前机器人的位姿;gsp_->setgenerateMap(false)表示地图只建立障碍部分; gsp_->setgenerateMap(true)表示完整地建立地图,包括障碍和空地;initMapper函数处理第一次收...
Thread 1 "slam_gmapping" received signal SIGSEGV, Segmentation fault. 0x00007ffff75c1398 in GMapping::ScanMatcher::registerScan(GMapping::Map<GMapping::PointAccumulator, GMapping::HierarchicalArray2D<GMapping::PointAccumulator>, true>&, GMapping::orientedpoint<double, double> const&, double const*) ...
- @b "~map_frame": 地图坐标系 @b [string] the tf frame_id where the robot pose on the map is published - @b "~odom_frame": 里程计坐标系 @b [string] the tf frame_id from which odometry is read - @b "~map_update_interval": 地图更新频率 @b [double] time in seconds between...
After driving the robot around the environment, you must have something similar to the image below: The robot is placed more or less at the center of the world and we have almost the entire map generated. It depends on the hardware, the odometry and the way you have navigated. But we h...
By dividing the map into grids, Gmapping can efficiently deal with large-scale environments, and because of the use of particle filtering technology, it also performs well in nonlinear and dynamic environments, making it an important tool in the field of autonomous navigation and map building [18...
There is no need for closed-loop processing in the operation process, so the computation is small. Through the simulation test, it is found that the local map is clear and of good quality and can be used as a navigation map. The indoor map can be constructed in real time, which ...