Hi all.

I have successful set up my Hokuyo UST-20LX to do laser scanning. I'm currently trying to use the hector_slam package now. However, I have problems regarding the tf.

Using rosrun tf tf_monitor,

Frames:
Frame: /base_laser published by /robot_tf_publisher Average Delay: 0.000538933 Max Delay: 0.00112979
Frame: /base_link published by /odom_to_base_link Average Delay: -0.0995477 Max Delay: 0
Frame: /laser published by /US6 Average Delay: -0.0995496 Max Delay: 0

All Broadcasters:
Node: /US6 9.99601 Hz, Average Delay: -0.0995496 Max Delay: 0
Node: /odom_to_base_link 9.99599 Hz, Average Delay: -0.0995477 Max Delay: 0
Node: /robot_tf_publisher 100.099 Hz, Average Delay: 0.000538933 Max Delay: 0.00112979

I tried to run hector_geotiff node, but got a warning, that is:

[ WARN] [1435203912.226730957]: No transform between frames /map and /base_link available after 20.001726 seconds of waiting. This warning only prints once.

That means I havent connect up /map and /base_link. I'm not sure how to do that. I tried looking for answers but to no avail.

Also, I ran mappingdefault.launch from hectormapping package and got this:

[ INFO] [1435206678.813741923]: lookupTransform base_footprint to /laser timed out. Could not transform laser scan into base_frame.

My task is to map out area using hector slam, like this one here:

https://www.youtube.com/watch?v=sieBqVxTz2c

Does anyone knows what tf should I connect to achieve the final result?

Thanks a million!