Problem with hector_slam
I am getting a warning with hector_slam tutorial.launch
: [ WARN] [1416748437.266266949]: No transform between frames /map and scanmatcher_frame available after 20.005297 seconds of waiting. This warning only prints once.
I am trying to run a laser scan with out odometer. Here is the copy of my launch file:
<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame" default="nav"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map"/>
<param name="base_frame" value="$(arg base_frame)"/>
<param name="odom_frame" value="$(arg base_frame)"/>
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5"/>
<param name="map_multi_res_levels" value="2"/>
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9"/>
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06"/>
<param name="laser_z_min_value" value="-1.0"/>
<param name="laser_z_max_value" value="1.0"/>
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)"/>
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>
Thank you for your help.
Asked by Morpheus on 2014-11-23 08:29:06 UTC
Comments
may be problem with laser topic name or clock option in rosbag play
Asked by bvbdort on 2014-12-08 16:35:03 UTC
The problem is that there's nothing in my rosbag after recording my laser scan. I can view the real time actual scan with rviz.
Asked by Morpheus on 2014-12-11 22:17:17 UTC
just try with recording bag again
Asked by bvbdort on 2014-12-12 01:51:56 UTC
With rosbag record -a, I get:[ WARN] [1418565044.601012694]: /use_sim_time set to true and no clock published. Still waiting for valid time...
Asked by Morpheus on 2014-12-14 08:58:35 UTC
do
rosparam set use_sim_time true
before starting record.Asked by bvbdort on 2014-12-14 11:11:07 UTC
I did get a map made, and could play it back. I set rosparam set use_sim_time false. I don't know if my robot can use it, though.
Asked by Morpheus on 2014-12-14 17:05:27 UTC
sorry, can you tell me what is the problem now?
Asked by bvbdort on 2014-12-15 11:08:05 UTC