Problems linking hokuyo_node to hector_slam and showing data on rviz [closed]

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Hi!,

I am quite sure you dont need to create any node to connect Hokuyo with Hector_mapping, since there are already implemented nodes for that, for the Hokuyo you can find the driver code here.

So now the only thing you have to do is to make sure that both of your nodes have the correct configuration to work and communicate together.

First of all you have to make sure of what you need to make hector mapping work, you can find all that info in the wiki. As you can see there, for that you only need to publish the tf transformation between the link of the sensor, and the base of the robot (since you dont have a robot, i think that you should create some kind of artificial frame at the base of the sensor as base_link), for that you can use robot_state_publisher.

Then you have to make sure that the sensor is broadcasting to the same topic, the hector_mapping node is listening to. I think Hokuyo publish by default in the topic "sensor_msgs/LaserScan" , the same one that uses the Hector_mapping node, so this shouldn't be a problem. And if all of this is correct i think it should work.

Your question was not quite specific, so i dont know if this is what you were looking for. Hope this helps!!