How to record bag-file for hector-mapping

asked 2012-01-10 00:57:27 -0500

Armin Hopf
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Hello everyone,

I've tried to record a .bag-File for creating a map with hector_slam_launch. A Hokuyo UBG-04LX-F01 is used for this - the datastream is running and mapped to "/scan" I've no other sensors at the test-system so I used the configuration-params from the Hector-Slamp-Tutorial for using without odom-frame.

The roscore and hokuyo_node are running - what else should be running during recording the bag-file?

If I try to use one of mine bag-files I get the following error-message in the hector_slam_launch terminal:

lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.

Maybe someone knows whats wrong with my approach..

Thanks!, Armin

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answered 2012-01-10 01:16:07 -0500

DimitriProsser

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When you use slam, it's going to try to convert the laser scan from the frame_id of the sensor to the base_frame of your robot. As such, you must provide the transformation from your robot's base_frame to the sensor's frame. This can be done with a static_transform if the transformation is static, or a transform_broadcaster if it's not static. Both of these can be found in the tf tutorials.