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hector_trajectory_server allows keeping track of a robot's trajectory. It keeps track of a trajectory based on tf and publishes it as a nav_msgs/Path that can directly be visualized in rviz.

To install:

sudo apt-get install ros-indigo-hector-slam

(if your are using indigo, otherwise substiture "indigo" with the ROS distro you use).

You can then use the package in one of your launch files like so:

  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="/map" />
    <param name="source_frame_name" type="string" value="/base_link" />
    <param name="trajectory_update_rate" type="double" value="4" />
    <param name="trajectory_publish_rate" type="double" value="0.25" />
  </node>

hector_trajectory_server allows keeping track of a robot's trajectory. It keeps track of a trajectory based on tf and publishes it as a nav_msgs/Path nav_msgs/Path that can directly be visualized in rviz.

To install:

sudo apt-get install ros-indigo-hector-slam

(if your are using indigo, otherwise substiture "indigo" with the ROS distro you use).

You can then use the package in one of your launch files like so:

  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="/map" />
    <param name="source_frame_name" type="string" value="/base_link" />
    <param name="trajectory_update_rate" type="double" value="4" />
    <param name="trajectory_publish_rate" type="double" value="0.25" />
  </node>

hector_trajectory_server allows keeping track of a robot's trajectory. It keeps track of a trajectory based on tf and publishes it as a nav_msgs/Path that can directly be visualized in rviz.

To install:

sudo apt-get install ros-indigo-hector-slam

(if your are using indigo, otherwise substiture "indigo" with the ROS distro you use).

You can then use the package in one of your launch files like so:

  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="/map" />
    <param name="source_frame_name" type="string" value="/base_link" />
    <param name="trajectory_update_rate" type="double" value="4" />
    <param name="trajectory_publish_rate" type="double" value="0.25" />
  </node>

hector_trajectory_server allows keeping track of a robot's trajectory. It keeps track of a trajectory based on tf and publishes it as a nav_msgs/Path that can directly be visualized in rviz.

To install:

sudo apt-get install ros-indigo-hector-slam

(if your are using indigo, otherwise substiture "indigo" with the ROS distro you use).

You can then use the package in one of your launch files like so:

  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="/map" />
    <param name="source_frame_name" type="string" value="/base_link" />
    <param name="trajectory_update_rate" type="double" value="4" />
    <param name="trajectory_publish_rate" type="double" value="0.25" />
  </node>

/edit: Your tf tree is wrong, there is a static transform publisher publishing the map->base_link transform (confusingly named odom_base_broadcaster). This job is supposed to be performed by hector_mapping. Yout You should definitely comment that broadcaster out. Afterwards, hector_mapping should be publishing the necessary tf data in the output of view_frames.