I've been posting similar questions on open topics, but that may have not been the proper way to address the forum.
*This may seen like a data dump, but I'm trying to be as complete as possible here so that one can see as much about what I have going on as possible. Of course, I will provide if more information if more is needed*.
Thank you guys in advance for any help or leads you can provide.
**Using ros indigo**
I've seen several examples of real-time and post-processed slam with RPLIDAR.
Just a few:
[https://www.youtube.com/watch?v=uZDeNKbcnuE](https://www.youtube.com/watch?v=uZDeNKbcnuE)
[https://www.youtube.com/watch?v=pCF7P7u8pDk](https://www.youtube.com/watch?v=pCF7P7u8pDk )
[https://youtu.be/gy9cDuaNW1w?t=48s](https://youtu.be/gy9cDuaNW1w?t=48s)
Now I've been fiddling with launch files for a couple months now on my free time with little luck as I know very little about how ros is structured and how to tie one tool to another. I've been basically making a Frankenstein Monster launch file and crossing my fingers.
I'm not receiving any errors and RVIS launches with out any problems and I can see the realtime data plotted on the 2D plane as red squares. I set the Global Fixed Frame to "map" and the RPLidarLaserScan display (really just LaserScan) Topic to "/scan". Then I add the "Map" display and set the topic to "/map". And press "Reset" at the bottom. The 2D plane on the display changes color to the "map" color, but I still do not see an occupancy grid, just the same red squares.
I feel like I'm missing something simple, like I'm not listening in on the right published topic. I've tried all the permuations of topic combinations but I cannot get a nice slam occupancy grid or map.
It might be easier to make a .bag file and post process it through hector mapping. Does anyone
Here is my current launch file:
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