Building a map using logged data

Based on one of the gmapping tutorials:

http://www.ros.org/wiki/slam_gmapping/Tutorials/MappingFromLoggedData#download

1. Run a core

$ roscore

2. Set use_sim_time param to true

$ rosparam set use_sim_time true

3. Run the slam_gmapping node that will take scans on the base_scan topic

$ rosrun gmapping slam_gmapping scan:=base_scan

4. Play a bag file, in this case I played the example available

$ wget http://pr.willowgarage.com/data/gmapping/basic_localization_stage.bag
$ rosbag play basic_localization_stage.bag

5. In order to watch the mapping process I ran nav_view

$ rosrun nav_view nav_view /static_map:=/dynamic_map

 6. Save map  $ rosrun map_server map_saver  [ INFO] 0.000000000: Writing map occupancy data to map.pgm [ INFO] 0.000000000: Writing map occupancy data to map.yaml [ INFO] 0.000000000: Done

This is how the publications and subscriptions of topics looks like: