Hello,
I am trying to perform slam_gmapping for my project, and using filtered odometry obtained using ekf. However, the tf_tree shows that map->odom (this is for slam_gmapping), and second side of the tree has map->/odometry/filtered (this is ekf odometry).
I am attaching my file which classifies tfs, and the tf diagram I got while running the system. I have remapped odom->/odometry/filtered in the slam_gmapping section of the code, but seems like it is not being activated. Currently, no map is being received.
Can anyone tell me how to fix it so I can map the environment using the filtered odometry from ekf for gmapping?
[C:\fakepath\frames.png](/upfiles/15475825844479636.png)
Code:
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↧