How to solve tf problem for hector slam
Hi,
I am using hokuyo UTM-30lx to do mapping using hector slam and i am facing a problem when running the hector slam. It shows the following message below:
[INFO][1389574162.6000311161]: lookupTransform base_stabilized to laser timed out. Could not transform laser scan into base_frame.
"Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (4): Frame /base_link exists with parent /base_stabilized. Frame /base_stabilized exists with parent NO_PARENT. Frame /laser exists with parent /base_link."
rostopic:
/diagnostics
/hokuyo/parameter_updates
/hokuyo/parameter_descriptions
/imu
/initialpose
/map
/map_metadata
/pose2D
/poseupdate
/rosout
/rosout_agg
/scan
/slam_cloud
/slam_out_pose
/syscommand
/tf
/tf/tfMessage
/trajectory
edited: laser scan cannot be seen if fixed frame is set to base_stabilized in rviz can be seen if fixed frame is set to base_link. target frame: laser
<launch>
<node name="hokuyo" pkg="hokuyo_node" type="hokuyo_node" respawn="false" output="screen">
<param name="calibrate_time" type="bool" value="true"/>
<!-- Set the port to connect to here -->
<param name="port" type="string" value="/dev/ttyACM0"/>
<param name="intensity" type="bool" value="false"/>
<param name="min_ang" value="-2.356194437"/>
<param name="max_ang" value="2.35619443"/>
<param name="cluster" value="1"/>
</node>
#### publish an example base_link -> laser transform ###########
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />
<node pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen">
<remap from="imu_topic" to="thumper_imu" />
<param name="base_stabilized_frame" type="string" value="base_stabilized" />
<param name="base_frame" type="string" value="base_link" />
</node>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_stabilized" />
<param name="odom_frame" value="base_stabilized" />
<param name="output_timing" value="false"/>
<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="map_update_distance_thresh" value="0.1" />
<param name="map_update_angle_tresh" value="0.3" />
<param name="laser_z_min_value" value="-1.0" />
<param name="laser_z_max_value" value="1.5" />
<!-- 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>
How do i solve this problem? Thanks in advance