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I used it in Gazebo (also with a Husky IIRC) and it should work pretty much the same as with Stage.

I used it in Gazebo (also with a Husky IIRC) and it should work pretty much the same as with Stage.

I used it in Gazebo (also with a Husky IIRC) and it should work pretty much the same as with Stage.

The warning from the Operator about the missing tf-transform is no problem, if it happens once at startup. (Some nodes need some more time to start, so a transform can be unavailable at first.) It should not happen during runtime though.

Both ros-graph and tf-graph seem to be fine. What is the error when you call StartMapping?

I used it in Gazebo (also with a Husky IIRC) and it should work pretty much the same as with Stage.

The warning from the Operator about the missing tf-transform is no problem, if it happens once at startup. (Some nodes need some more time to start, so a transform can be unavailable at first.) It should not happen during runtime though.

Both ros-graph and tf-graph seem to be fine. What is the error when you call StartMapping?

With the changed husky definition I could start your launch file and identify two problems: 1. problems:

1. Operator is not connected to gazebo, because topics don't match. So add the following to the Operator node in your launch file: <remap from="cmd_vel" to="husky/cmd_vel"/>

   1. Your laser is mounted higher then usual, so you have to increase the max_obstacle_height in costmap.yaml in nav2d_tutorials: scan: {data_type: LaserScan, expected_update_rate: 0.4, observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 1.0, min_obstacle_height: 0.08}

   After these changes the exploration with the Husky works for me. However there still seems to be an issue with the Husky's Odometry, causing a significant drift when turning the robot. The mapping cannot always compensate for that.

I used it in Gazebo (also with a Husky IIRC) and it should work pretty much the same as with Stage.

The warning from the Operator about the missing tf-transform is no problem, if it happens once at startup. (Some nodes need some more time to start, so a transform can be unavailable at first.) It should not happen during runtime though.

Both ros-graph and tf-graph seem to be fine. What is the error when you call StartMapping?

With the changed husky definition I could start your launch file and identify two problems:

After these changes the exploration with the Husky works for me. However there still seems to be an issue with the Husky's Odometry, causing a significant drift when turning the robot. The mapping cannot always compensate for that.