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手順\r\n\r\nopenEth.sh を実行\r\nmapping.launch を実行ののち,\r\nrosbag record -O mapdata.bag /scan /tf\r\n\r\nこの状態で走行し, 走行 / rosbag を終了の後\r\n\r\nroscore\r\nrosparam set use_sim_time true\r\nrosrun gmapping slam_gmapping scan:=scan\r\n別ターミナルで\r\nrosbag play --clock  mapdata.bag\r\n終了の後, **閉じずに**\r\nrosrun map_server map_saver -f map_factory\r\n\r\nでマップが出てきます.\r\n※ -f map_factory の部分は出力ファイル名指定. 変えてね\r\n\r\n## 現状\r\n\r\n現状, map は取れてるけれど非常に汚くて使い物になりません.\r\nurg_node 側のパラメータもいじって良いデータを取得できるようにいろいろ試しつつ調整する必要があります.\r\n具体的には, パラメータファイルの調整とか,\r\n読み取るトピックを/scan にするのかマルチエコーモードを有効にして /last にするのか  /first にするのか /most_intense にするのかって話だったりもします.\r\n\r\n自立走行の根幹をなす部分です. ぜひ参加しましょう.\r\n私はほぼ毎日いるはずなので, 来てくれればやることは見つかるんでよろしく."},"comment":{"url":"https://api.github.com/repos/CIR-KIT/fifth_robot_pkg/issues/comments/257099424","html_url":"https://github.com/CIR-KIT/fifth_robot_pkg/issues/27#issuecomment-257099424","issue_url":"https://api.github.com/repos/CIR-KIT/fifth_robot_pkg/issues/27","id":257099424,"user":{"login":"AriYu","id":8924428,"avatar_url":"https://avatars.githubusercontent.com/u/8924428?v=3","gravatar_id":"","url":"https://api.github.com/users/AriYu","html_url":"https://github.com/AriYu","followers_url":"https://api.github.com/users/AriYu/followers","following_url":"https://api.github.com/users/AriYu/following{/other_user}","gists_url":"https://api.github.com/users/AriYu/gists{/gist_id}","starred_url":"https://api.github.com/users/AriYu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/AriYu/subscriptions","organizations_url":"https://api.github.com/users/AriYu/orgs","repos_url":"https://api.github.com/users/AriYu/repos","events_url":"https://api.github.com/users/AriYu/events{/privacy}","received_events_url":"https://api.github.com/users/AriYu/received_events","type":"User","site_admin":false},"created_at":"2016-10-29T15:56:49Z","updated_at":"2016-10-29T15:56:49Z","body":"できれば現状の地図をみたいのですがどこかに上がってたりしませんか？\r\nあとbagファイルもください。"}}
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