Axes of lidar suddenly move in hector_slam

asked 2016-03-06 05:28:49 -0500

papaclaudia gravatar image

Hi! When I want to make a map with hector-slam, it happens that the frame of reference TF of my LIDAR moves continuously. How can I do to avoid it? Thank you.

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The scan matching algorithm is likely having issues.Since hector_slam only uses scan matching and doesn't use robot odometry like gmapping, it is a lot more sensitive to a lack of visible features in the laser scan. Which LIDAR are you using, and could you provide relevant screenshots of your issue?

robustify gravatar image robustify  ( 2016-03-06 20:53:48 -0500 )edit

I solved my problem by before making "rosrun tf static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms". I had forgotten to install this directory on my board.

papaclaudia gravatar image papaclaudia  ( 2016-03-07 02:35:14 -0500 )edit