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hi,

You may try this launch file. We use this one on a UAV (so no odometry) to created maps using hector_slam.

You have set-up a lot of static TFs which are looking not realy useful, e.g. your tree claims that /map is static linked to /nav which is static linked to /base_stabilized. But /base_stabilized moves around while the robot is moving, so it can not be static located in respect to the map/world.

<launch>

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

<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="scan_topic" value="scan"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.025"/>
<param name="map_size" value="2048"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="laser_z_min_value" value="-2.5" />
<param name="laser_z_max_value" value="7.5" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />    
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />

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

<!--
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
</node>

<param name="hector_mapping/pub_map_odom_transform" value="true"/>

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