Environment Mapping

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Zhenshan Bing
Posts: 6
Joined: 19 Dec 2015, 23:11

Environment Mapping

Postby Zhenshan Bing » 05 Sep 2017, 21:18

Hi,

How can I map the environment as fast and well as the official demo does?
I know this demo uses the Hokuyo URG 04LX UG01. But I am wondering if there is a demo scene for more detailed information or algorihtm?

https://www.youtube.com/watch?v=nAWniIe2yU0

Regards and thanks,
Zhenshan

coppelia
Site Admin
Posts: 6066
Joined: 14 Dec 2012, 00:25

Re: Environment Mapping

Postby coppelia » 06 Sep 2017, 09:08

Hello Zhenshan,

you will have to decide for a sensor first. In case of the Hokuyo, you have a slow and precise version, and a fast and less-precise version.
Then, read the data provided by the sensor and feed them to a point-cloud object for instance.

Cheers

ssj
Posts: 17
Joined: 27 Feb 2017, 15:40

Re: Environment Mapping

Postby ssj » 12 Sep 2017, 05:21

hello
I am also trying to map the environment using rosrun gmapping slam_gmapping but when I simulate my scene in vrep I got this error on ros terminal.

[ WARN] [1505189631.767123764]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: -0.07668
[ WARN] [1505189631.862920856]: Laser has to be mounted planar! Z-coordinate has to be 1 or -1, but gave: -0.07663

and this error in vrep
[C]: in function 'simGetJointPosition'
[string "JOINT CTRL CALLBACK BaxterGripper_centerJoi..."]:17: in main chunk
Here is my file
https://drive.google.com/file/d/0B6FmgD ... sp=sharing

coppelia
Site Admin
Posts: 6066
Joined: 14 Dec 2012, 00:25

Re: Environment Mapping

Postby coppelia » 12 Sep 2017, 15:14

Hello,

the reason for the error on V-REP side is because your object that has the joint control callback script attached to it has a name that contains a "#0" suffix. In that script, if getting object handle with:

Code: Select all

    a=sim.getObjectHandle('BaxterGripper_closeJoint')


Will actually retrieve the object with the same name suffix as the script has. I.e. it will look for BaxterGripper_closeJoint#0, which doesn't exist.

Make sure to carefully read this page, Access from associated code.

Cheers


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