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No map in rviz using Hector_slam with lidar_lite [closed]

asked 2015-05-19 13:43:17 -0600

emilmare gravatar image

I have been working on getting a hector slam working from lidar lite laser.

I am turning the laser 360° with a motor and in rviz I get points that show me room that I am in.

I have read the tf section and am currently just using static tf (the laser has no odom)

I am running 3 launch files and will include them, also with what comes when I start the launch file.

The problem is that there is no map being generated.

Hera are the launch files

lidar.launch:

<launch>
<node pkg="rviz" type="rviz" name="rviz" />
<include file="/home/ubuntu/ros_catkin_ws/hector_mapping.launch"/>
<include file="/home/ubuntu/ros_catkin_ws/geotiff_mapper.launch">
    <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
</include>
</launch>

and here is hector.launch:

<launch>

<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_link" />
<param name="odom_frame" value="base_link" />

<!-- 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="laser_z_min_value" value="-2.5" />
<param name="laser_z_max_value" value="7.5" />

<!-- 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" />
</node>

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster"      args="0 0 0 0 0 0 /base_link    /laser 100" />

<node pkg="tf" type="static_transform_publisher" name="map_to_base"      args="0 0 0 0 0 0 /map /base_link 100" />

<node pkg="tf" type="static_transform_publisher" name="map_to_frame"      args="0 0 0 0 0 0 /map /scanmatcher_frame 100" />
</launch>

and geotiff_mapper.launch

<launch>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>

<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
<param name="target_frame_name" type="string" value="/map" />
<param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
<param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
<param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
</node>


<node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
<remap from="map" to="/dynamic_map" />
<param name="map_file_path" type="string" value="/home/viki/Desktop/maps" />
<param name="map_file_base_name" type="string" value="uprobotics" />
<param name="geotiff_save_period" type="double" value="0" />
<param name="draw_background_checkerboard" type="bool" value="true" />
<param name="draw_free_space_grid" type="bool" value="true" />
</node>

</launch>

output when I run the lidar.launch

... logging to /home/ubuntu/.ros/log/1d718a5a-fe48-11e4-8617-b827ebb8ff55/roslaunch-ubuntu-16706.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:36740/

SUMMARY

PARAMETERS * /hector_geotiff_node/draw_background_checkerboard: True

  • /hector_geotiff_node/draw_free_space_grid: True

  • /hector_geotiff_node/geotiff_save_period: 0.0

  • /hector_geotiff_node/map_file_base_name: uprobotics

  • /hector_geotiff_node/map_file_path: /home/viki/Deskto...

  • /hector_mapping/base_frame: base_link

  • /hector_mapping/laser_z_max_value: 7.5

  • /hector_mapping/laser_z_min_value: -2.5

  • /hector_mapping/map_frame: map

  • /hector_mapping/map_resolution: 0.025

  • /hector_mapping/map_size: 2048

  • /hector_mapping/map_start_x: 0.5

  • /hector_mapping/map_start_y: 0.5

  • /hector_mapping/map_update_angle_thresh: 0.06

  • /hector_mapping/map_update_distance_thresh: 0.2

  • /hector_mapping/odom_frame: base_link

  • /hector_mapping ...

(more)
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-04-30 03:05:35.264098

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2 Answers

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answered 2015-05-20 09:08:10 -0600

felixwatzlawik gravatar image

I dont think you need the geotiff mapper, I will post a hector launch file which implements all nodes in one launch file.. You need transforms from odom -> base_link and base_link -> laser

<node pkg="tf" type="static_transform_publisher" name="odom_to_base_lnk" args="0 0 0 0 0 0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_lnk_to_laser_lnk" args="0 0 0 0 0 0 /base_link /laser_link 100"/>

This file works for me, my laserframe is camera_link and the first three lines are the driver for my scanner.. Also my laser data is published to /laser/scan instead of /scan..

 <launch>
    <node name="laser" pkg="cob_sick_s300" type="cob_sick_s300" respawn="false" output="screen">
        <rosparam command="load" file="s300_config.yaml"/>
    </node>

    <node pkg="tf" type="static_transform_publisher" name="odom_to_base_lnk" args="0 0 0 0 0 0 /odom /base_link 100"/>
    <node pkg="tf" type="static_transform_publisher" name="base_lnk_to_laser_lnk" args="0 0 0 0 0 0 /base_link /camera_link 100"/>

    <param name="pub_map_odom_transform" value="true"/>
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="base_link" />


    <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

        <param name="use_tf_scan_transformation" value="true"/>
        <param name="use_tf_pose_start_estimate" value="false"/>

        <param name="map_resolution" value="0.050"/>
        <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_multi_res_levels" value="3" />

        <param name="update_factor_free" value="0.4"/>
        <param name="update_factor_occupied" value="0.9" />    
        <param name="map_update_distance_thresh" value="0.04"/>
        <param name="map_update_angle_thresh" value="0.006" />

        <param name="advertise_map_service" value="true"/>

        <param name="scan_subscriber_queue_size" value="5"/>
        <param name="scan_topic" value="laser/scan"/>

        <param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />

    </node>
 </launch>
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Comments

Looks like I added an answer to my question. not a comment to you. Sorry about that.

emilmare gravatar image emilmare  ( 2015-05-20 10:19:05 -0600 )edit
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answered 2015-05-20 09:56:26 -0600

emilmare gravatar image

Thank you very much for your reply. Today I went with a new launch file

<launch>

<param name="/use_sim_time" value="true" />

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <param name="base_frame" value="base_link"/>
    <param name="odom_frame" value="base_link"/>
    <param name="pub_map_odom_transform" value="true"/>
    <param name="scan_subscriber_queue_size" value="25"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <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_multi_res_levels" value="2" />
    </node>

     <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"> </include>

        <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>

    <node pkg="tf" type="static_transform_publisher" name="map_to_base"      args="0 0 0 0 0 0 /map /base_link 10" />

    <node pkg="tf" type="static_transform_publisher" name="map_to_frame"      args="0 0 0 0 0 0 /map /scanmatcher_frame 10" />


  </launch>

and I made a bag file of my laser reading ( the laser reading is slow, takes 27 second to go one circle) here is the bag file.

https://www.dropbox.com/s/2lyk28zt9vy...

When I start the bag file using rosbag play test1.bag --clock

run the test.launch and then run rviz I get one map.

http://i.imgur.com/utgcrpd.png

The warning I get under the hector mapping is 

Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.9-0trusty-20150326-1129/src/buffer_core.cpp
Warning: TF_OLD_DATA ignoring data from the past for frame scanmatcher_frame at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
     at line 260 in /tmp/buildd/ros-indigo-tf2-0.5.9-0trusty-20150326-1129/src/buffer_core.cpp

and under rviz I get 

[ WARN] [1432132718.095414451, 1432132025.987704380]: TF_OLD_DATA ignoring data from the past for frame base_link at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1432132718.095502765, 1432132025.987704380]: TF_OLD_DATA ignoring data from the past for frame scanmatcher_frame at time 0 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained

The map is generated once and does not update.

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change it to "/base_link /laser" also change the 10's to 100's and tell me if it works.

felixwatzlawik gravatar image felixwatzlawik  ( 2015-06-01 10:09:25 -0600 )edit
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Asked: 2015-05-19 13:43:17 -0600

Seen: 806 times

Last updated: May 20 '15

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