Closed pgigioli closed 7 years ago
Looking at your ros-graph, there doesn't seem to be any laser scans going into the Operator or the Mapper. This way neither obstacle avoidance nor mapping can work. So check to which topic your scans are published and remap Operator and Mapper inputs accordingly.
@skasperski I've spent a lot of timing trying to customize the tutorial3.launch file for a turtlebot2 so that I can have autonomous gmapping and exploration but I am running into a lot of issues. Firstly, I can't seem to get the mapper node to publish a map to the operator costmap or to anything else for that matter. I'm running the turtlebot_bringup/minimal.launch and a custom version of the tutorial3.launch. RVIZ is run on a separate computer.
Here is my rqt_graph:
Here is the tutorial3.launch:
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Can you help me with this setup? I know this has been done before. Let me know if you need to see any param files.