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Trajectory during the mapping

asked 2016-03-09 05:50:53 -0600

papaclaudia gravatar image

Hi! I can make a map with xv-11 and hector slam. I have this part in slam.launch file:

[...]
<include file="$(find hector_mapping)/launch/mapping_default.launch"/>
<node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>
[...]

and this is geotiff_mapper.launch file:

<launch>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>
<arg name="map_file_path" default="$(find hector_geotiff)/maps"/>
<arg name="map_file_base_name" default="hector_slam_map"/>
<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
<param name="target_frame_name" type="string" value="/map"/>
<param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)"/>
<param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)"/>
<param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)"/>
</node>
<node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
<remap from="map" to="/dynamic_map"/>
<param name="map_file_path" type="string" value="$(arg map_file_path)"/>
<param name="map_file_base_name" type="string" value="$(arg map_file_base_name)"/>
<param name="geotiff_save_period" type="double" value="0"/>
<param name="draw_background_checkerboard" type="bool" value="true"/>
<param name="draw_free_space_grid" type="bool" value="true"/>
<param name="plugins" type="string" value="hector_geotiff_plugins/TrajectoryMapWriter"/>
</node>
</launch>

I would like to trace the trajectory when the lidar moves in the environment. How do I launch the hector_trajectory_server node? In rviz what to add in the display to the left? Which topic? Thank you!

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answered 2016-03-10 06:23:15 -0600

papaclaudia gravatar image

I solved it by changing this:

<param name="trajectory_source_frame_name" value="scanmatcher_frame"/>

in slam.launch and in geotiff_mapper.launch.

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answered 2016-03-09 08:17:44 -0600

Orhan gravatar image

Add 'Path' visualization in rViz and set its topic to trajectory. I think It will be work, I haven't work with this package. Readed topic name from hector_trajectory_server wiki page:

Published Topics:

trajectory (nav_msgs/Path)

Get the traveled trajectory from this latched topic.

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Comments

Unfortunately it's not enough what you say. Thanks anyway for having responded to me!

papaclaudia gravatar imagepapaclaudia ( 2016-03-09 09:58:21 -0600 )edit

Someone marked correct my answer. I think I must explain. You are launching rViz in there: <node pkg="rviz" type="rviz" name="rviz" args="-d rviz_cfg.rviz"/> Open rViz window and click add button(bottom left) and add Path. Then set its topic to trajectory (just select from combobox).

Orhan gravatar imageOrhan ( 2016-03-10 00:43:14 -0600 )edit

Yes, that's what I did but it does not work. Perhaps there is a problem? Because it says: Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.105566 timeout was 0.1.

papaclaudia gravatar imagepapaclaudia ( 2016-03-10 01:41:48 -0600 )edit

You should ask a new Question for this. I looked up, There is your question exists. I am writing there. And In RViz, in the global options, set mixed frame to /base_link if it is map.

Orhan gravatar imageOrhan ( 2016-03-10 03:04:28 -0600 )edit

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Asked: 2016-03-09 05:50:53 -0600

Seen: 304 times

Last updated: Mar 10 '16