gmapping calculate only first laser scan
I've been trying to operate the gmapping package using a hokuyo laser scanner.
I run:
rosrun gmapping slam_gmapping scan:=base_scan
Of course I ran first the laser and a static_tf_publisher between the laser and a base link
rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link laser 100
However, I see, in RVIZ, that the mapping catches only the first laser scan, and the map is never updated. In the terminal I get the following output:
update frame 0
update ld=0 ad=0
Laser Pose= 0 0 0
m_count 0
Registering First Scan
Any Ideas why this might happen?
Thanks
Do you have odometry?
No, the laser is static. Do I need to publish my pose even if I'm not moving?
Yes and no. Gmapping needs to pose to initially match consecutive scans. However, even if you would publish odometry, gmapping limits the updates between moves, i.e. unless odometry says the robot moved a certain amount (linear_update, angular_update params), it won't take the next scan.
Could anyone specify a step by step of how to build this map, cause I now tried doing the same at home with a ROS bag of the data and I get TF errors! What should be the hierarchy of this map?