SLAM not working with XV-11 LIDAR sensor
I'm trying to run SLAM without odometry.
When I launch my neato.launch file, this is the error I get:
No transform between frames /map and /base_link available after 20.002637 seconds of waiting. This warning only prints once.
Im positive that the sensor works, because I can see the raw data on topic.
Is it a problem with the sensor driver or is my config in my .launch files wrong somehow?
This is my .../hector_slam-catkin/hector_slam_launch/launch/neato.launch file:
<?xml version="1.0"?>
<launch>
<node pkg="xv_11_laser_driver" type="neato_laser_publisher" name="xv_11_node">
<param name="port" value="/dev/ttyUSB0"/>
<param name="firmware_version" value="2"/>
<param name="frame_id" value="laser"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser 100"/>
<!--<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>-->
<node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
</launch>
This is my .../hector_slam-catkin/hector_mapping/launch/mapping_default.launch file:
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="/scanmatcher_frame"/>
<arg name="base_frame" default="/base_link"/>
<arg name="odom_frame" default="/base_link"/>
<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="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>
This is my tf tree: https://drive.google.com/file/d/0B6kX... . . . . . . . -------------------------------------------------------------------SOLUTION-----------------------------------------------------------------------------------
EDIT: I found out that I forgot to add the line:
<include file="$(find hector_mapping)/launch/mapping_default.launch"/>
in the neato.launch file.
Now i see something in rviz:
https://drive.google.com/file/d/0B6kX...
and the map seems to be rotating ok, but there is no map being added and there is no movement in x,y directions if i move the sensor. Also in terminal I still have the error:
No transform between frames ...