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RVIZ HECTOR SLAM

asked 2015-05-17 02:04:04 -0600

osmancns gravatar image

updated 2015-05-18 09:37:25 -0600

AlexR gravatar image

HELLO...

Can anybody explain step by step how can ı do this project like video ???

https://www.youtube.com/watch?feature...

I have Rplidar ROS library.

https://github.com/robopeak/rplidar_ros

and ı have RVIZ on ubuntu / indigo

nobody know as exactly .

İs anybody explain this project step by step on pictures or video.

ı AM DOİNG LİKE THİS :

$ roslaunch rplidar_ros rplidar.launch $ roslaunch hector_slam_launch tutorial.launch ( it is started RVIZ program)

this is working and starting publish lidar scan data. I added LASER_SCAN and MAP tools on RVIZ display.

if ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "laser" , I can see LIDAR data on RVİZ on rviz display.

BUT !!!! f ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "map" , I can NOT see LIDAR data on RVİZ on rviz display. and I see this error:

Transform [sender=unknown_publisher] For frame [laser]: Fixed Frame [map] does not exist please solve this problem. help me.

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answered 2015-05-17 07:36:26 -0600

AlexR gravatar image

updated 2015-05-17 07:37:30 -0600

I suggest reading about the Hector SLAM from this page and how to set up for your robot or do laser sensor only mapping. Of course do the basic ROS tutorial first. Learning by doing is the best practice. Try first and if you fail ask the community for help. ROS tutorials and Hector SLAM has well written wiki page and tutorials for any beginner level ROS user to understand clearly and concisely.

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HI, I think those links are very basic. Can you give link to some better tutorials?

pallavbakshi gravatar imagepallavbakshi ( 2017-02-03 10:52:59 -0600 )edit
1

answered 2015-05-20 09:16:17 -0600

felixwatzlawik gravatar image

The Problem is that you dont have a transform from laser to map, post your tf tree please:

rosrun tf view_frames

evince frames.pdf
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ı run your code and result: "NO TF DATA RECEIVED"

my codes like this: -$ roscore (no error) -$ roslaunch rplidar_ros rplidar.launch (RPLidar health status : 0) -$ roslaunch hector_slam_launch tutorial.launch (no error)

ı can see laser frame on rviz no map what is the problem ı couldnt find .

osmancns gravatar imageosmancns ( 2015-05-21 03:16:56 -0600 )edit
1

answered 2015-12-14 06:29:53 -0600

YingHua gravatar image

updated 2015-12-14 06:32:56 -0600

hi

This is my blog but in Chinese.

There are steps about hector slam in the article.

https://hollyqood.wordpress.com/2015/...

I guess that was no laser data because of the com port permission.

sudo chmod 666 /dev/ttyUSB0

Please that me know if you were success. :)

Alyson

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Thank you. I found this helpful!

Bill5785 gravatar imageBill5785 ( 2017-02-15 19:56:45 -0600 )edit
0

answered 2015-12-07 21:14:12 -0600

quentin gravatar image

updated 2015-12-07 21:22:44 -0600

Hello everybody,

I am also trying to use the full Hector_slam package (simulation on Gazebo). Nevertheless, as soon as I set the ground_truth_node to false when spawning the quadrotor, I get highly unstable result. Here is my launch file:

    <?xml version="1.0"?>

<launch>

  <!-- Start Gazebo with wg world running in (max) realtime -->
  <include file="$(find hector_gazebo_worlds)/launch/willow_garage.launch"/>

  <!-- Spawn simulated quadrotor uav -->


              <arg name="name" default="quadrotor"/>

              <arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
              <arg name="controller_definition" default="$(find hector_quadrotor_controller)/launch/controller.launch"/>
              <arg name="model" value="$(find hector_quadrotor_description)/urdf/quadrotor_hokuyo_utm30lx.gazebo.xacro"/> 

              <arg name="x" default="0.0"/>
              <arg name="y" default="0.0"/>
              <arg name="z" default="0.3"/>

              <arg name="use_ground_truth_for_tf" default="false" />
              <arg name="use_ground_truth_for_control" default="false" />
              <arg name="use_pose_estimation" default="true"/>

              <arg name="world_frame" default="/map"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
              <arg name="base_link_frame" default="$(arg tf_prefix)/base_link"/>

              <!-- send the robot XML to param server -->
              <param name="robot_description" command="$(find xacro)/xacro '$(arg model)' base_link_frame:=$(arg base_link_frame) world_frame:=$(arg world_frame)" />
              <param name="tf_prefix" type="string" value="$(arg tf_prefix)" />
              <param name="base_link_frame" type="string" value="$(arg base_link_frame)"/>
              <param name="world_frame" type="string" value="$(arg world_frame)"/>

              <!-- push robot_description to factory and spawn robot in gazebo -->
              <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
                args="-param robot_description
                   -urdf
                   -x $(arg x)
                   -y $(arg y)
                   -z $(arg z)
                   -model $(arg name)"
                respawn="false" output="screen"/>

              <!-- start robot state publisher -->
              <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
                <param name="publish_frequency" type="double" value="50.0" />
              </node>

              <!-- publish state and tf
              <node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">
                <param name="odometry_topic" value="ground_truth/state" />
                <param name="frame_id" value="$(arg world_frame)" />
                <param name="tf_prefix" value="$(arg tf_prefix)" if="$(arg use_ground_truth_for_tf)" />
                <param name="tf_prefix" value="$(arg tf_prefix)/ground_truth" unless="$(arg use_ground_truth_for_tf)" />
              </node>  -->

              <group if="$(arg use_pose_estimation)">
                <node name="pose_estimation" pkg="hector_quadrotor_pose_estimation" type="hector_quadrotor_pose_estimation" output="screen">
                  <rosparam file="$(find hector_quadrotor_pose_estimation)/params/simulation.yaml" />
                  <param name="nav_frame" value="nav" />
                  <param name="publish_world_nav_transform" value="false" />
                  <param name="tf_prefix" value="$(arg tf_prefix)" unless="$(arg use_ground_truth_for_tf)" />
                  <param name="tf_prefix" value="$(arg tf_prefix)/pose_estimation" if="$(arg use_ground_truth_for_tf)" />
                </node>
              </group>

              <!-- spawn controller -->
              <group if="$(arg use_ground_truth_for_control)">
                <param name="controller/state_topic" value="" />
                <param name="controller/imu_topic" value="" />
              </group>
              <group unless="$(arg use_ground_truth_for_control)">
                <param name="controller/state_topic" value="state" />
                <param name="controller/imu_topic" value="imu" />
              </group>
              <include file="$(arg controller_definition)" />

              <arg name="motors" default="robbe_2827-34_epp1045" />
              <rosparam command="load" file="$(find hector_quadrotor_model)/param/quadrotor_aerodynamics.yaml" />
              <rosparam command="load" file="$(find hector_quadrotor_model)/param/$(arg motors).yaml" />

<!-- Start SLAM system -->
              <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatch_frame"/>
              <arg name="base_frame" default="base_footprint"/>
              <arg name="odom_frame" default="nav"/>

              <arg name="pub_map_odom_transform" default="true"/>
              <arg name="pub_map_scanmatch_transform" value="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 odom_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 ...
(more)
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answered 2015-05-17 09:10:33 -0600

osmancns gravatar image

updated 2015-05-17 09:11:03 -0600

Thank you so much but ı know ROS tutorial and hector slam ı did you said examples. But there is a problem. İs anybody explain this project step by step on pictures or video.

ı AM DOİNG LİKE THİS :

$ roslaunch rplidar_ros rplidar.launch $ roslaunch hector_slam_launch tutorial.launch ( it is started RVIZ program)

this is working and starting publish lidar scan data. I added LASER_SCAN and MAP tools on RVIZ display.

if ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "laser" , I can see LIDAR data on RVİZ on rviz display.

BUT !!!! f ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "map" , I can NOT see LIDAR data on RVİZ on rviz display. and I see this error:

Transform [sender=unknown_publisher] For frame [laser]: Fixed Frame [map] does not exist

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Comments

edit your question and paste the launch files you are using. Also paste the exact error you are getting in the terminal window

AlexR gravatar imageAlexR ( 2015-05-17 10:10:16 -0600 )edit

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Asked: 2015-05-17 02:04:04 -0600

Seen: 4,383 times

Last updated: Dec 14 '15