get global position with hector mapping and amcl and premade made

asked 2015-11-04 10:43:03 -0500

PizzaTime gravatar image

hello I'm currently trying to get amcl with hector mapping to work because i have no odometry
hector mapping is working so far this is my launch file

<launch> <arg name="geotiff_map_file_path" default="$(find hector_geotiff)/maps"/>

<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="pub_odometry" 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">
    <arg name="map_file_path" value="/home/megatron/catkin_ws"/>  </include>

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

</launch> amcl is also sucessfully receiving the map but after that it fails. Im getting

No laser scan received (and thus no pose updates have been published) for 1446636766.673503 seconds.  Verify that data is being published on the /scan topic.

and

MessageFilter [target=odom ]: Dropped 100.00% of messages so far. Please turn the [ros.amcl.message_notifier] rosconsole logger to DEBUG for more information.

this is my rostopic list:
/clock
/initialpose
/map
/map_metadata
/poseupdate
/rosout
/rosout_agg
/scan
/scanmatch_odom
/slam_cloud
/slam_out_pose
/syscommand
/tf
/tf_static

all topics are publishing also the /scan topic!

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Comments

Can you post your amcl launch file? Also your tf tree would be useful, maybe you're missing some connection there

S.Prieto gravatar imageS.Prieto ( 2015-11-05 02:12:15 -0500 )edit