The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Pay attention to these two lines:
<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 100" />
<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 100" />
Map to Odom should be published by hectorSLAM in your case.
Odom to base_footprint should be published by the robot base, which is a dead-reckoning calculation.
If a transformation is published by two different publishers, The static transform publisher won't give you an error message but result in an unusable map.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.