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Hi, you said "the tf tree is : -/base_link → /laser 2. -/map → /scanmatcher_frame"
That doesn't seem to be correct. /map should at least link to /base_link, and /base_link to /laser, where you have to provide the transforms for /base_link to /laser.
However, I'd recommend following the tutorial (http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot), i.e. /base_footprint -> /base_stabilized -> /base_link -> /laser.
Since you don't have odometry, both base_frame and odom_frame parameters should be set to /base_footprint. Dunno if hector_slam also works with base_frame and odom_frame set to /base_link.
| | 2 | No.2 Revision |
Hi, you said "the tf tree is : 1. -/base_link → /laser 2. -/map → /scanmatcher_frame"
That I'm not sure of the notation, but that doesn't seem to be correct.
correct?
/map should at least link to /base_link, and /base_link to /laser, where you have to provide the transforms for /base_link to /laser.
However, I'd recommend following the tutorial (http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot), i.e. /base_footprint -> /base_stabilized -> /base_link -> /laser.
Since you don't have odometry, both base_frame and odom_frame parameters should be set to /base_footprint. Dunno if hector_slam also works with base_frame and odom_frame set to /base_link.
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