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In my hours and hours of researching this issue, I came across this and in the hector-mapping section, it has it's static-transform-publisher defined as follows:

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

This lead me to realise my static-transform-publisher is defined incorrectly. I changed mine to publish TF data between chasis -> hokuyo_scan instead of odom -> chasis, i:e :

<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 chasis hokuyo_scan 100"/>

And that fixed my problem in regards to rviz. The robot model no longer "hops" in place like a low-rider and the teleoperation is nice and smooth. Although, I still get the "Transform failed during publishing of map_odom transform: . . ." errors in my terminal.