I'm trying to use nav2d to autonomously map out an environment in gazebo but I am unable to get the gmapping nav2d node "mapper" to publish a /map msg. First I launch the turtlebot_gazebo/turtlebot_world.launch to start the turtlebot in gazebo and then I launch a modified version of the nav2d tutorial3.launch file.
In RVIZ, I get an error message under the map section that says "no map received" and "No transform [] to [map]. The output of rostopic echo /map is "WARNING: no messages received and simulated time is active.Is /clock being published?" I checked /clock and it is publishing so that is not the issue.
Also, when I run turtlebot_gazebo/gmapping_demo instead of nav2d, a /map msg is published correctly so I don't think its an issue with my gazebo configuration. My guess is that the nav2d "mapper" node is connected to the wrong laser frame but I have tried changing the base frame from base_laser_link to base_laser and to camera_depth_frame and neither worked.
Rqt_graph shows a /scan msg being published to mapper and a /map msg being published to RVIZ.
Below are my launch file and ros.yaml file which defines the parameters for nav2d.
Here is my current launch file:
↧