Trying to interface pixhawk IMU through MAVROS and HECTOR_SLAM

asked 2016-03-08 18:52:29 -0500

project_quadcopter gravatar image


I am very new to ROS and am working on a project using a Hukoyo-04LX laser and a pixhawk for IMU data. I was able to generate a hector_slam map using the laser, but I have had zero success integrating the pixhawk. I am using the hector_imu_attitude_to_tf node with the following line <remap from="/imu_topic" to="/mavros/imu/data_raw"/>. I seem to be getting the following errors:

in the terminal that i run hector_imu_attitude_to_tf in the terminal that I run hector_slam_launch at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.12/src/buffer_core.cpp Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "base_link" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)

in my tf tree:

map-->odom-->base_footprint map-->odom-->base_stabilized-->base_link-->laser map-->scanmatcher_frame (sorry I was not able to upload the picture)

Any help would be appreciated. Please let me know if further information is needed.


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did you solve this? I am having a similar issue.

tb12 gravatar image tb12  ( 2017-03-07 12:52:12 -0500 )edit