cartographer with hokuyo laser and without IMU

[Rabah]

Hello,

First, I'd like to thank you for sharing Cartographer! I'm just getting started and I have a question:

I have summit_xl robot mounted with hokuyo 2D laser, I would like to use the cartographer without IMU, I have already changed the "backpack_2d.lua" and  "backpack_2d.launch" files as printed here:
-----------------------------------------------------------------------------------------------------
include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "base_link",
  published_frame = "base_link",
  odom_frame = "odom",
  provide_odom_frame = true,
  use_odometry = false,
  use_laser_scan = true,
  use_multi_echo_laser_scan = false,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
}

MAP_BUILDER.use_trajectory_builder_2d = true

return options
-----------------------------------------------------------------------------------------------------
<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename backpack_2d.lua"
      output="screen">
    <remap from="scan" to="base_link" />
  </node>
</launch>
-----------------------------------------------------------------------------------------------------

and then I ran the command line " roslaunch cartographer_ros backpack_2d.launch", it seems working but i difn't get the map and the robot didn't move.

any help will be greatly appreciated.

[Holger Rapp]

​This is probably not sufficient. You want something closer to the revo_lds.lua file. Mainly you probably want to disable IMU and use correlative scan matchings.​

​​

-----------------------------------------------------------------------------------------------------
<launch>
  <param name="robot_description"
    textfile="$(find cartographer_ros)/urdf/backpack_2d.urdf" />

  <node name="robot_state_publisher" pkg="robot_state_publisher"
    type="robot_state_publisher" />

  <node name="cartographer_node" pkg="cartographer_ros"
      type="cartographer_node" args="
          -configuration_directory $(find cartographer_ros)/configuration_files
          -configuration_basename backpack_2d.lua"
      output="screen">
    <remap from="scan" to="base_link" />
  </node>
</launch>
-----------------------------------------------------------------------------------------------------

and then I ran the command line " roslaunch cartographer_ros backpack_2d.launch", it seems working but i difn't get the map and the robot didn't move.

​Cartographer will not make your robot move. It only generates a map and localizes in it.​

​​

any help will be greatly appreciated.

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[Rabah]

thanks for replying,

I used revo_lds.lua file, and I got nothing, here a screenshot of my laptop. should i move the robot by myself to make a map?
the hokuyo laser has firme ID: base_link, and the topic name also base_link, I can see the topic base_link published on my laptop, but /map topic didn't publish nothing

for your information, i installed the cartographer on my laptop external, not on the robot and made one rosmaster to have a communication.

[Rabah]

now i got this warn

[Holger Rapp]

​Please do not post screenshot of text terminals. Instead provide the full output in a github gist or a pastebin-site.​

I cannot read the text and the interesting information is probably before. Generally, check roswtf, your topic and frame names, more often than not the problem is in inconsistencies there.

On Wed, Jul 5, 2017 at 6:37 PM, Rabah <zerouk...@gmail.com> wrote:

now i got this warn

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