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mit-racecar / racecar_gazebo

A gazebo-based simulator of the MIT Racecar.
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No map messages received in Rviz when run this simulation with gmapping #17

Open kktfox opened 4 years ago

kktfox commented 4 years ago

I run racecar.launch and gmapping, but I can't see map in Rviz when run gmapping. Screenshot from 2020-01-11 10-20-07 Also, I find odom_frame is not connected with base_link in tf tree. Is this maybe the reason fo question? Could anyone konw how to fix it, really thx.

devanshdhrafani commented 3 years ago

Hi! Were you able to solve this issue?

kktfox commented 3 years ago

My problem is caused by wrong tf relations. you can check tf tree. It seems a little error exist in publishing tf between two frames.

devanshdhrafani commented 3 years ago

Hi! Thanks for your reply. I was able to solve the problem.

The issue was that no odom-->base_link transform was being published. Have a look at this post where I fixed the same. And here you can find the code for launching gmapping.