Hector Mapping [closed]

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Hi all! I'm getting use to ROS now. After setting up my Hokuyo UST-20LX laser, I'm currently working on hector_mapping and hector_navigation. I have a few questions here.

1) Before I proceed on, can I check whether my rqt tree is in correct order?

map ---> scanmatcher_frame map ---> nav

nav ---> base_footprint

base_footprint ---> base_stabilized base_footprint ---> base_link

base_link ---> laser base_link ---> base_laser (using tf_broadcaster and tf_listener)

2) I configure this tree from my geotiff_mapper.launch file. What I changed was the few node pkg lines below. Is it correct?

<?xml version="1.0"?>

<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="$(find hector_geotiff)/maps" />
    <param name="map_file_base_name" type="string" value="hector_slam_map" />
    <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>


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

<param name="map_pub_period" value="1.0" />
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="1024"/>


<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>

<node pkg="tf" type="static_transform_publisher" name="basefootprint_basestabilized_broadcaster" args="0 0 0 0 0 0 base_footprint base_stabilized 100"/>

<node pkg="tf" type="static_transform_publisher" name="basefootprint_baselink_broadcaster" args="0 0 0 0 0 0 base_footprint base_link 100"/>

<node pkg="tf" type="static_transform_publisher" name="nav_basefoot_broadcaster" args="0 0 0 0 0 0 nav base_footprint 100"/>

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


</launch>

3) I edited a bit on hector_mapping/launch/mapping_default.launch.

Changes are:

-Set <param name="base_frame" value="base_link" />

By default it is <param name="base_frame" value="footprint" />. The reason why I changed to base_link is because I have encountered an error that said base_footprint cannot transform to laser. Still, changing to base_link still shows this error but the warning doesn't keep popping out in the terminal.

-Add include files:

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

<include file="$(find hector_elevation_mapping)/launch/elevation_mapping_node.launch" />

<include file="$(find hector_costmap)/launch/costmap.launch" />

I will be using elevation_mapping in the future therefore I add this node inside here first. The reason for including these files is that I can run 4 nodes at just by roslaunch hector_mapping mapping_default.launch.

Can anyone confirm that my changes are alright?

4) After setting up all this, the laser mapping isn't good either. All displays in RVIZ are in OK condition (LaserScan, TF, Map, etc..).

I have set the Global Fixed Frame into /base_link, it doesn't map out the area instantly ... (more)