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abhineet123 / ORB_SLAM2

Modified version of ORB SLAM for an autonomous navigation project
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Unable to generate Online Occupancy grid map #8

Open RahmanMifta opened 5 years ago

RahmanMifta commented 5 years ago

Help Needed, please. As per your 2d-grid-mapping.pdf, you have generated online occupancy grid map for autonomous navigation. I am learning SLAM and your codes are one of the very few which gives 2d map for navigation. I am running Ubuntu 14.04 with ROS indigo, Opencv 2.11, Eigen 3.2 in a virtual machine. I followed your "steps" file to understand the result. I used the below 5 commands:

  1. roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=/opt/ros/indigo/share/turtlebot_gazebo/worlds/empty.world
  2. roslaunch amcl_demo.launch
  3. roslaunch view_navigation.launch
  4. rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/TUM3.yaml /home/mifta/catkin_ws/src/OSA/Datasets/rgbd_dataset_freiburg3_walking_halfsphere
  5. rosrun ORB_SLAM2 Monosub 30 2 6 -6 6 -6 0.55 0.50 1 5

But, i am unable to generate the result. I think, the problem is in the amcl_dmo.laucnh (unmodified) file. I am unable to figure out the modification you have done. Is it possible to share the modified amc_demo.launch file? I am also attaching my rqt_graph. rosgraphsw

Thanks in advance

jahaniam commented 5 years ago

what result are you looking for? 2d grid map? to generate 2d grid map you don't need amcl. amcl is for navigation after the mapping process.

Try to pass the map you generated to amcl: roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/abhineet/ORB_SLAM2/grid_map.yaml

RahmanMifta commented 5 years ago

Thanks @a-jahani

RaymondChanSZU666 commented 4 years ago

what result are you looking for? 2d grid map? to generate 2d grid map you don't need amcl. amcl is for navigation after the mapping process.

Try to pass the map you generated to amcl: roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/abhineet/ORB_SLAM2/grid_map.yaml

Hi, but where can I find the amcl_demo.launch. I can not find it in the directory.