{"id":5203,"date":"2022-10-03T13:14:19","date_gmt":"2022-10-03T04:14:19","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=5203"},"modified":"2022-10-03T13:15:34","modified_gmt":"2022-10-03T04:15:34","slug":"gmapping-slam%ec%9c%bc%eb%a1%9c-%ec%a7%80%eb%8f%84-%eb%a7%8c%eb%93%a4%ea%b8%b0","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/gmapping-slam%ec%9c%bc%eb%a1%9c-%ec%a7%80%eb%8f%84-%eb%a7%8c%eb%93%a4%ea%b8%b0\/","title":{"rendered":"gmapping slam\uc73c\ub85c \uc9c0\ub3c4 \ub9cc\ub4e4\uae30"},"content":{"rendered":"\n<p><a href=\"http:\/\/wiki.ros.org\/slam_gmapping\/Tutorials\/MappingFromLoggedData#record\">\uc5ec\uae30<\/a> \uc788\ub294 gmapping, slam \ud29c\ud1a0\ub9ac\uc5bc\uc744 \ud588\ub2e4. \ud29c\ud1a0\ub9ac\uc5bc\uc740 \uc0c1\ub2f9\ud788 \uc27d\uac8c \uad6c\uc131\ub418\uc5b4 \uc788\uc73c\ub098, \ub0b4\uac00 \uc2e4\uc7ac\ub85c \ud574\ubcf4\uba74 \uc798 \uc548\ub41c\ub2e4. \uc65c \uadf8\ub7f0\uc9c0 \ud655\uc778\ud558\uae30 \uc704\ud574 \uc0bd\uc9c8\uc744 \ud588\ub2e4. \ud574\ub2f9 \uc0ac\uc774\ud2b8\uc5d0\uc11c \ub2e4\uc6b4\ub85c\ub4dc \ubc1b\uc744 \uc218 \uc788\ub294 rosbag \ud30c\uc77c\uc5d0 \uc5b4\ub5a4 \ud1a0\ud53d\uc774 \uc800\uc7a5\ub418\uc5b4 \uc788\ub294\uc9c0 \uad81\uae08\ud588\ub2e4. rqt\uac00 \uc81c\uacf5\ud558\ub294 rosbag \ud50c\ub7ec\uadf8\uc778\uc73c\ub85c \uc5b4\ub5a4 \ub370\uc774\ud130\uac00 \uc788\ub294\uc9c0 \ud655\uc778\ud588\ub2e4.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"920\" height=\"721\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/rqt_bag.png\" alt=\"\" class=\"wp-image-5204\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/rqt_bag.png 920w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/rqt_bag-768x602.png 768w\" sizes=\"auto, (max-width: 920px) 100vw, 920px\" \/><\/figure>\n\n\n\n<p>rosbag play\ub85c \uc2e4\ud589\ud558\uba74 \ubb50\uac00 \uc798\ubabb \ub418\uc5c8\ub294\uc9c0 \ub2e4\uc74c \uba54\uc138\uc9c0\ub97c \ubcf4\uc558\ub2e4. debug \ub808\ubca8\uc744 \ucf1c\ub77c\ub294 \uc18c\ub9ac\uc778 \ub4ef \ud55c\ub370&#8230;<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">[ WARN] [1664664315.511464153]: MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_filter] rosconsole logger to DEBUG for more information.<\/pre>\n\n\n\n<p>rosconsole\ub85c message filter \ud604\uc7ac \uc0c1\ud0dc\ub97c \ud655\uc778\ud558\uace0 \ubcc0\uacbd\ud560 \uc218 \uc788\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">root:workspace$rosconsole get \/slam_gmapping ros.gmapping.message_filter\ninfo\nroot:workspace$rosconsole set slam_gmapping ros.gmapping.message_filter debug<\/pre>\n\n\n\n<p>rosbag\uc5d0 -a \uc635\uc158\uc744 \uc8fc\uace0 \ubaa8\ub4e0 \ub370\uc774\ud130\ub97c \uc800\uc7a5\ud558\uba74 \uc9c0\ub3c4\ub97c \ub9cc\ub4e4 \uc218 \uc788\ub2e4. \uc544\ub798\uc640 \uac19\uc774 tf\uc640 scan \ub370\uc774\ud130\ub9cc \uc800\uc7a5\ud55c \ub2e4\uc74c rosbag play\ub97c \uc2e4\ud589\ud558\uba74 tf tree\uac00 \ub04a\uc5b4\uc838 \uc788\ub2e4. \uc815\ud655\ud558\uac8c\ub294 basefoot_print\uc640 base_link\uac00 \ub04a\uaca8\uc838 \uc788\uace0, scanner_link\uac00 \uc5c6\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">ros@workspace$rosbag record \/tf \/laser\/scan\n[ INFO] [1664767902.638118674]: Subscribing to \/laser\/scan\n[ INFO] [1664767902.642276643]: Subscribing to \/tf\n[ INFO] [1664767902.645339564]: Recording to '2022-10-03-03-31-42.bag'.<\/pre>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">ros@workspace$ros@bag$rosbag play --clock 2022-10-03-03-31-42.bag<\/pre>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1881\" height=\"1038\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tr_tree_wrong.png\" alt=\"\" class=\"wp-image-5208\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tr_tree_wrong.png 1881w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tr_tree_wrong-768x424.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tr_tree_wrong-1536x848.png 1536w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tr_tree_wrong-1568x865.png 1568w\" sizes=\"auto, (max-width: 1881px) 100vw, 1881px\" \/><\/figure>\n\n\n\n<p>\ud558\ub098\uc529 \ud574 \ubcf4\ub2e4\uac00 \/tf_static\uae4c\uc9c0 record \ud574 \ubcf4\uc558\ub2e4. \uc544, \ud798\ub4e4\uc5c8\ub2e4^^!<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">ros@bag$rosbag record -o mydata \/tf \/tf_static \/laser\/scan\n[ INFO] [1664769638.007469286]: Subscribing to \/laser\/scan\n[ INFO] [1664769638.011680347]: Subscribing to \/tf\n[ INFO] [1664769638.014193685]: Subscribing to \/tf_static\n[ INFO] [1664769638.298793651, 1626.350000000]: Recording to 'mydata_2022-10-03-04-00-38.bag'.<\/pre>\n\n\n\n<p>record\ud55c \uacb0\uacfc\ub97c \ubcf4\uba74 \uc9c0\ub3c4\uac00 \uc798 \uc0dd\uc131\ub428\uc744 \ud655\uc778\ud588\ub2e4. tf_tree\ub97c \ubcf4\uba74<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1888\" height=\"1033\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tf_tree.png\" alt=\"\" class=\"wp-image-5210\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tf_tree.png 1888w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tf_tree-768x420.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tf_tree-1536x840.png 1536w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/tf_tree-1568x858.png 1568w\" sizes=\"auto, (max-width: 1888px) 100vw, 1888px\" \/><\/figure>\n\n\n\n<p>\uc704 \ube60\uc9c4 tf_tree\uc640 \ub2e4\ub974\uac8c base_footprint\uc640 base_link\uac00, base_link\uc640 scanner_link\uac00 \uc5f0\uacb0\ub418\uc5c8\ub2e4. \uc65c \uc774\ub807\uac8c \uacb0\uc815\ub418\uc5c8\ub294\uc9c0 \ud655\uc778\ud574 \ubcf4\uba74, urdf\uc5d0 fixed\ub77c\uace0 joint\ub97c \uc815\uc758\ud574\uc11c \uadf8\ub807\ub2e4. \uc544\ub798 urdf\ub97c \uc815\uc758\ud55c \ubd80\ubd84\uc744 \ud655\uc778\ud574 \ubcf4\uba74 fixed\ub85c joint\ub97c \uc815\uc758\ud588\uae30 \ub54c\ubb38\uc5d0 tf_static\uc744 \ud544\uc694\ub85c \ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\"> 42 \n 43         &lt;joint name = \"base_footprint_fixed\" type = \"fixed\">\n 44                 &lt;origin xyz = \"0 0 0.03\" rpy = \"0 0 0\"\/>\n 45                 &lt;parent link = \"base_footprint\"\/>\n 46                 &lt;child link = \"base_link\"\/>\n 47         &lt;\/joint>\n 48 \n\n146         &lt;joint name = \"left_wheel_joint\" type = \"continuous\">\n147                 &lt;origin xyz = \"0.1 0.15 0\" rpy = \"0 0 0\"\/>\n148                 &lt;parent link = \"base_link\"\/>\n149                 &lt;child link = \"left_wheel\"\/>\n150                 &lt;axis xyz = \"0 1 0\"\/>\n151 \n152         &lt;\/joint>\n153 \n154         &lt;joint name = \"left_wheel_joint_back\" type = \"continuous\">\n155                 &lt;origin xyz = \"-0.1 0.15 0\" rpy = \"0 0 0\"\/>\n156                 &lt;parent link = \"base_link\"\/>\n157                 &lt;child link = \"left_wheel_back\"\/>\n158                 &lt;axis xyz = \"0 1 0\"\/>\n159 \n160         &lt;\/joint>\n161 \n162 \n\n\n205         &lt;joint name = \"head_scanner\" type = \"fixed\">\n206                 &lt;!-- rpy\ub97c \uc218\uc815\ud558\uba74 \uce74\uba54\ub77c \uac01\ub3c4\uac00 \ubc14\ub01c-->\n207                 &lt;origin xyz = \"0.15 0 0\" rpy = \"0 0 0\"\/>\n208                 &lt;parent link = \"base_link\"\/>\n209                 &lt;child link = \"scanner_link\"\/>\n210         &lt;\/joint>\n211 <\/pre>\n\n\n\n<p>\uae30\ub85d\ud55c rosbag \ud30c\uc774\uc744 \ubcf4\uba74, scan, tf, tf_static 3\uac1c\uac00 \ub4e4\uc5b4\uac00 \uc788\ub2e4.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"843\" height=\"661\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/ros_bag.png\" alt=\"\" class=\"wp-image-5211\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/ros_bag.png 843w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2022\/10\/ros_bag-768x602.png 768w\" sizes=\"auto, (max-width: 843px) 100vw, 843px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-wp-embed is-provider-automatic-addison wp-block-embed-automatic-addison\"><div class=\"wp-block-embed__wrapper\">\n<blockquote class=\"wp-embedded-content\" data-secret=\"MGmCKH3SS8\"><a href=\"https:\/\/automaticaddison.com\/coordinate-frames-and-transforms-for-ros-based-mobile-robots\/\">Coordinate Frames and Transforms for ROS-based Mobile Robots<\/a><\/blockquote><iframe loading=\"lazy\" class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; visibility: hidden;\" title=\"&#8220;Coordinate Frames and Transforms for ROS-based Mobile Robots&#8221; &#8212; \" src=\"https:\/\/automaticaddison.com\/coordinate-frames-and-transforms-for-ros-based-mobile-robots\/embed\/#?secret=mT0oYjz7pV#?secret=MGmCKH3SS8\" data-secret=\"MGmCKH3SS8\" width=\"500\" height=\"282\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe>\n<\/div><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>\uc5ec\uae30 \uc788\ub294 gmapping, slam \ud29c\ud1a0\ub9ac\uc5bc\uc744 \ud588\ub2e4. \ud29c\ud1a0\ub9ac\uc5bc\uc740 \uc0c1\ub2f9\ud788 \uc27d\uac8c \uad6c\uc131\ub418\uc5b4 \uc788\uc73c\ub098, \ub0b4\uac00 \uc2e4\uc7ac\ub85c \ud574\ubcf4\uba74 \uc798 \uc548\ub41c\ub2e4. \uc65c \uadf8\ub7f0\uc9c0 \ud655\uc778\ud558\uae30 \uc704\ud574 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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