Axes of lidar suddenly move in hector_slam
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.
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?
I solved my problem by https://github.com/ros/geometry 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.