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answered 2018-10-10 01:49:56 -0600

Delb gravatar image

Directly looking at your tf tree you can say that something is wrong : you should have all your frames connected with each other. The most surprising thing is the frame base_footprint not connected with anything, yet you didn't defined it.

The issue is inside <include file="$(find ydlidar)/launch/lidar.launch" /> if you look at the content of lidar.launch here there is this node launched too :

 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />

This node does the work for you to set the static transform base_footprint -> laser_frame but then you redifine a new parent to laser_frame :

<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" 
    args="0.0 0.0 0.0 0 0 0.0 /base_link /laser_frame 40" />

You have two options here :

  • Instead of including the lidar.launch only copy/paste the ydlidar node and params part to put it in your launch file (ie removing the static_transform_publisher node)
  • Instead of creating a static transform base_link -> laser_frame change it to base_link -> base_footprint.

Directly looking at your tf tree you can say that something is wrong : you should have all your frames connected with each other. The most surprising thing is the frame base_footprint not connected with anything, yet you didn't defined it.

The issue is inside <include file="$(find ydlidar)/launch/lidar.launch" /> if you look at the content of lidar.launch here there is this node launched too :

 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />

This node does the work for you to set the static transform base_footprint -> laser_frame but then you redifine a new parent to laser_frame :

<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" 
    args="0.0 0.0 0.0 0 0 0.0 /base_link /laser_frame 40" />

You have two options here :

  • Instead of including the lidar.launch only copy/paste the ydlidar node and params part to put it in your launch file (ie removing the static_transform_publisher node)
  • Instead of creating a static transform base_link -> laser_frame change it to base_link -> base_footprint.

EDIT:

You have inverted the frames, map is the parent of odom. Your launch file should be :

 <launch>

  <include file="$(find ydlidar)/launch/lidar.launch" />
  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
    args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
  <node pkg="tf" type="static_transform_publisher" name="odom_to_baselink" 
        args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 40" />
  <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" 
args="0.0 0.0 0.0 0 0 0.0 /base_link /base_footprint 40" />
  <include file="$(find hector_mapping)/launch/mapping_default.launch" />
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ydlidar)/launch/lidar.rviz" />
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />

</launch>

Directly looking at your tf tree you can say that something is wrong : you should have all your frames connected with each other. The most surprising thing is the frame base_footprint not connected with anything, yet you didn't defined it.

The issue is inside <include file="$(find ydlidar)/launch/lidar.launch" /> if you look at the content of lidar.launch here there is this node launched too :

 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />

This node does the work for you to set the static transform base_footprint -> laser_frame but then you redifine a new parent to laser_frame :

<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" 
    args="0.0 0.0 0.0 0 0 0.0 /base_link /laser_frame 40" />

You have two options here :

  • Instead of including the lidar.launch only copy/paste the ydlidar node and params part to put it in your launch file (ie removing the static_transform_publisher node)
  • Instead of creating a static transform base_link -> laser_frame change it to base_link -> base_footprint.

EDIT:

You have inverted the frames, map is the parent of odom. Your launch file should be :

 <launch>

  <include file="$(find ydlidar)/launch/lidar.launch" />
  <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen">
      <param name="port"         type="string" value="/dev/ydlidar"/>  
      <param name="baudrate"     type="int"    value="115200"/>
      <param name="frame_id"     type="string" value="laser_frame"/>
      <param name="angle_fixed"  type="bool"   value="true"/>
      <param name="low_exposure"  type="bool"   value="false"/>
      <param name="heartbeat"    type="bool"   value="false"/>
      <param name="resolution_fixed"    type="bool"   value="true"/>
      <param name="angle_min"    type="double" value="-180" />
      <param name="angle_max"    type="double" value="180" />
      <param name="range_min"    type="double" value="0.08" />
      <param name="range_max"    type="double" value="16.0" />
      <param name="ignore_array" type="string" value="" />
      <param name="samp_rate"    type="int"    value="9"/>
      <param name="frequency"    type="double" value="7"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
    args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
  <node pkg="tf" type="static_transform_publisher" name="odom_to_baselink" name="odom_to_basefootprint" 
        args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" 
        args="0.0 0.0 0.0 0 0 0.0 /base_footprint /base_link 40" />
  <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" 
name="base_link_to_laser" 
        args="0.0 0.0 0.0 0 0 0.0 /base_link /base_footprint /laser_frame 40" />
  <include file="$(find hector_mapping)/launch/mapping_default.launch" />
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ydlidar)/launch/lidar.rviz" />
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />

</launch>

Directly looking at your tf tree you can say that something is wrong : you should have all your frames connected with each other. The most surprising thing is the frame base_footprint not connected with anything, yet you didn't defined it.

The issue is inside <include file="$(find ydlidar)/launch/lidar.launch" /> if you look at the content of lidar.launch here there is this node launched too :

 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />

This node does the work for you to set the static transform base_footprint -> laser_frame but then you redifine a new parent to laser_frame :

<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" 
    args="0.0 0.0 0.0 0 0 0.0 /base_link /laser_frame 40" />

You have two options here :

  • Instead of including the lidar.launch only copy/paste the ydlidar node and params part to put it in your launch file (ie removing the static_transform_publisher node)
  • Instead of creating a static transform base_link -> laser_frame change it to base_link -> base_footprint.

EDIT:

You have inverted the frames, map is the parent of odom. Your launch file should be :

 <launch>

    <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen">
      <param name="port"         type="string" value="/dev/ydlidar"/>  
      <param name="baudrate"     type="int"    value="115200"/>
      <param name="frame_id"     type="string" value="laser_frame"/>
      <param name="angle_fixed"  type="bool"   value="true"/>
      <param name="low_exposure"  type="bool"   value="false"/>
      <param name="heartbeat"    type="bool"   value="false"/>
      <param name="resolution_fixed"    type="bool"   value="true"/>
      <param name="angle_min"    type="double" value="-180" />
      <param name="angle_max"    type="double" value="180" />
      <param name="range_min"    type="double" value="0.08" />
      <param name="range_max"    type="double" value="16.0" />
      <param name="ignore_array" type="string" value="" />
      <param name="samp_rate"    type="int"    value="9"/>
      <param name="frequency"    type="double" value="7"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
    args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
  <node pkg="tf" type="static_transform_publisher" name="odom_to_basefootprint" 
        args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" 
        args="0.0 0.0 0.0 0 0 0.0 /base_footprint /base_link 40" />
 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
        args="0.0 0.0 0.0 0 0 0.0 /base_link /laser_frame 40" />
  <include file="$(find hector_mapping)/launch/mapping_default.launch" />
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ydlidar)/launch/lidar.rviz" />
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />

</launch>

I've removed the <include file="$(find ydlidar)/launch/lidar.launch" /> because you hsould have map -> odom -> base_footprint -> base_link -> laser_frame instead of map -> odom -> base_link -> base_footprint -> laser_frame.

Directly looking at your tf tree you can say that something is wrong : you should have all your frames connected with each other. The most surprising thing is the frame base_footprint not connected with anything, yet you didn't defined it.

The issue is inside <include file="$(find ydlidar)/launch/lidar.launch" /> if you look at the content of lidar.launch here there is this node launched too :

 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser4"
args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />

This node does the work for you to set the static transform base_footprint -> laser_frame but then you redifine a new parent to laser_frame :

<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" 
    args="0.0 0.0 0.0 0 0 0.0 /base_link /laser_frame 40" />

You have two options here :

  • Instead of including the lidar.launch only copy/paste the ydlidar node and params part to put it in your launch file (ie removing the static_transform_publisher node)
  • Instead of creating a static transform base_link -> laser_frame change it to base_link -> base_footprint.

EDIT:

You have inverted the frames, map is the parent of odom. Your launch file should be :

 <launch>

    <node name="ydlidar_node"  pkg="ydlidar"  type="ydlidar_node" output="screen">
      <param name="port"         type="string" value="/dev/ydlidar"/>  
      <param name="baudrate"     type="int"    value="115200"/>
      <param name="frame_id"     type="string" value="laser_frame"/>
      <param name="angle_fixed"  type="bool"   value="true"/>
      <param name="low_exposure"  type="bool"   value="false"/>
      <param name="heartbeat"    type="bool"   value="false"/>
      <param name="resolution_fixed"    type="bool"   value="true"/>
      <param name="angle_min"    type="double" value="-180" />
      <param name="angle_max"    type="double" value="180" />
      <param name="range_min"    type="double" value="0.08" />
      <param name="range_max"    type="double" value="16.0" />
      <param name="ignore_array" type="string" value="" />
      <param name="samp_rate"    type="int"    value="9"/>
      <param name="frequency"    type="double" value="7"/>
  </node>
  <node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
    args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
  <node pkg="tf" type="static_transform_publisher" name="odom_to_basefootprint" 
        args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />
  <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" 
        args="0.0 0.0 0.0 0 0 0.0 /base_footprint /base_link 40" />
 <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
        args="0.0 0.0 0.0 0 0 args="0.2245 0.0 0.2 0.0 0.0 0.0 /base_link /laser_frame 40" />
  <include file="$(find hector_mapping)/launch/mapping_default.launch" />
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ydlidar)/launch/lidar.rviz" />
  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />

</launch>

I've removed the <include file="$(find ydlidar)/launch/lidar.launch" /> because you hsould have map -> odom -> base_footprint -> base_link -> laser_frame instead of map -> odom -> base_link -> base_footprint -> laser_frame.

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