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Thank you very much for your reply. Today I went with a new launch file

<launch>

<param name="/use_sim_time" value="true" />

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="base_link"/>
    <param name="pub_map_odom_transform" value="true"/>
    <param name="scan_subscriber_queue_size" value="25"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="2048"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />
    </node>

     <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"> </include>

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

    <node pkg="tf" type="static_transform_publisher" name="map_to_base"      args="0 0 0 0 0 0 /map /base_link 10" />

    <node pkg="tf" type="static_transform_publisher" name="map_to_frame"      args="0 0 0 0 0 0 /map /scanmatcher_frame 10" />


  </launch>

and I made a bag file of my laser reading ( the laser reading is slow, takes 27 second to go one circle) here is the bag file.

https://www.dropbox.com/s/2lyk28zt9vyavrg/test1.bag?dl=0

When I start the bag file using rosbag play test1.bag --clock

run the test.launch and then run rviz I get one map.

http://i.imgur.com/utgcrpd.png

The warning I get under the hector mapping is

Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.9-0trusty-20150326-1129/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame scanmatcher_frame at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.9-0trusty-20150326-1129/src/buffer_core.cpp

and under rviz I get

[ WARN] [1432132718.095414451, 1432132025.987704380]: TF_OLD_DATA ignoring data from the past for frame base_link at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1432132718.095502765, 1432132025.987704380]: TF_OLD_DATA ignoring data from the past for frame scanmatcher_frame at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained

The map is generated once and does not update.