March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Configuring the gmapping node
The gmapping node is the package to perform SLAM (http://wiki.ros.org/gmapping).
The gmapping node inside this package mainly subscribes and publishes the following topics:
The following are the subscribed topics:
- tf (tf/tfMessage): Robot transform that relates to Kinect, robot base and odometry
- scan (sensor_msgs/LaserScan): Laser scan data that is required to create the map
The following are the published topics:
- map (nav_msgs/OccupancyGrid): Publishes the occupancy grid map data
- map_metadata (nav_msgs/MapMetaData): Basic information about the occupancy grid
The gmapping node is highly configurable using various parameters. The gmapping node parameters are defined inside the chapter_9_codes/chefbot/chefbot_bringup/launch/include/gmapping.launch.xml ...