hector slam does not work! [closed]

asked 2015-05-05 09:55:36 -0500

Zargol
206 ●5 ●10 ●18

updated 2015-05-06 02:50:49 -0500

bvbdort

3034 ●32 ●43 ●58

I received below error after running

"roslaunch hector_slam_launch tutorial.launch"

"rosbag play Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag --clock"

I could see the tf in rviz , but there is no map! how could I define transform between frames /map and scanmatcher? and why does it call terminate? Any idea?

terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
  what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[hector_mapping-2] process has died [pid 9809, exit code -6, cmd /home/zargol/catkin_workspace/devel/lib/hector_mapping/hector_mapping __name:=hector_mapping __log:=/home/zargol/.ros/log/644b3e9a-f334-11e4-adf6-0025649a63d3/hector_mapping-2.log].
log file: /home/zargol/.ros/log/644b3e9a-f334-11e4-adf6-0025649a63d3/hector_mapping-2*.log
[ WARN] [1430837517.680715839, 1310298004.093839447]: No transform between frames /map and scanmatcher_frame available after 20.001973 seconds of waiting. This warning only prints once.

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by Zargol
close date 2015-05-06 04:21:44.861022

Comments

can you post complete log of error.

bvbdort ( 2015-05-06 03:30:28 -0500 )edit

that was the complete log of error

Zargol ( 2015-05-06 04:19:26 -0500 )edit

add a comment

2

answered 2015-05-06 03:34:10 -0500

AlexR
654 ●18 ●26 ●38

To know how the tf works see the following tutorials :

tf

Hector SLAM tf setup

An easy solution would be to manually starting a tf publisher that publishes the needed transform from the base_link (localized) to the laser scanner frame. See the example launch file below:

 <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />

and you should have your hector_mapping parameters like this :

  <param name="pub_map_odom_transform" value="true"/>
   <param name="map_frame" value="map" />
   <param name="base_frame" value="base_link" />
  <param name="odom_frame" value="base_link" />

edit flag offensive delete link

add a comment

0

answered 2015-05-06 04:18:39 -0500

Zargol
206 ●5 ●10 ●18

Thank you AlexR, I changed my computer and I used my personal laptop which has more powerful graphic card, and I run the launch file with the bag file and it worked perfectly. I used the parameters below which give me a reasonable map.

 <arg name="base_frame" default="base_link"/>
 <arg name="odom_frame" default="nav"/>

edit flag offensive delete link

Comments

Glad it helped. Please accept the response as an answer by clicking on the "check" symbol.

AlexR ( 2015-05-11 22:29:10 -0500 )edit

add a comment

hector slam does not work! [closed]

Closed for the following reason the question is answered, right answer was accepted by Zargol
close date 2015-05-06 04:21:44.861022

Comments

2 Answers

Comments

Question Tools

Stats

Related questions

hector slam does not work! [closed] edit

Closed for the following reason the question is answered, right answer was accepted by Zargol close date 2015-05-06 04:21:44.861022

Comments

2 Answers

Comments

Question Tools

Stats

Related questions

hector slam does not work! [closed]

Closed for the following reason the question is answered, right answer was accepted by Zargol
close date 2015-05-06 04:21:44.861022