problem with gmapping [closed]
I'm trying to use gmapping stack to do some slam research. But it seemed like gmapping is using the laser scans believing that the robot is still from the map built. I've checked odometry, which is accurate. I've checked the tf(odom->base_link base_link->base_laser) via not launching gmapping, only view laser and tf in rviz, which seemed also correct when I move the robot by hand. But if I choose "/base_link", "/odom" or "/map" as the fixed frame in the "global option tag", the "LaserScan" tag will change red between green from time to time. I check the error message in LaserScan tag, and be told "unknown reason for transform failure". I mean, sometimes it is correct(green), but also incorrect sometimes. How can I fix that problem?
How does your tf tree look like? How do you publish the transforms?
the tree is just like this: map->odom->base_link->base_laser