hector slam with xtion - workable?

asked 2015-05-04 06:50:24 -0500

MarkyMark2012 gravatar image

updated 2015-05-04 07:37:59 -0500

Hi all,

I've been playing around with Hector SLAM, seems to be "starting" to work.

The map (when viewed in rviz) shows the current scan, however move the robot and the map doesn’t move or "jumps" to a completely different place. With I take to mean that the scan matcher fails

Also there are quite a few

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

despite having a static transform set up

<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="1 0 0 0 0 0 1 /base_link /laser_link 100"/>

However I've looked at similar posts (i.e. Hector Slam with kinect here I should give up on this and revert to getting gmapping working?

The scan message it remapped to laser_link

header: 
  seq: 2865896
  stamp: 
    secs: 1430742417
    nsecs: 166665707
  frame_id: /laser_link
angle_min: -0.517280697823
angle_max: 0.503935337067
angle_increment: 0.00159814720973
time_increment: 0.0
scan_time: 0.0329999998212
range_min: 0.449999988079
range_max: 10.0
ranges: [ etc etc...]

Thanks

Mark

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Comments

laser might be published in other frame than laser_link .

Check frame of laser messages and use it in place of laser_link

In the link you shared, laser was published on frame /openni_camera

bvbdort gravatar imagebvbdort ( 2015-05-04 07:12:51 -0500 )edit

I've made a quick update - the laser scans are coming out on laser_link - Thanks Mark

MarkyMark2012 gravatar imageMarkyMark2012 ( 2015-05-04 07:38:39 -0500 )edit

i guess frame_id should not contain "/"

bvbdort gravatar imagebvbdort ( 2015-05-04 08:13:15 -0500 )edit

"/" is okay - it's a convention for frame_ids

MarkyMark2012 gravatar imageMarkyMark2012 ( 2015-05-04 08:31:16 -0500 )edit