Hector_mapping cannot laser scan into base_frame

asked 2016-07-28 11:49:06 -0500

thepirate16 gravatar image

Hi guys. Thanks for your attention in advance.

I am using hector_mapping with Hokuyo URG-04LX-UG01 and ROS INDIGO.

The problem has appeared in other occasions, but following indications of other questions hasn't solved it.

So, once again, the problem is, when I run the hector_mapping node and the hokuyo_node at the same time,

$ rosrun hokuyo_node hokuyo_node

$ rosrun hector_mapping hector_mapping

it appears this error:

[ INFO] [1469723827.101706930]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

I've seen that the solution goes through changing some parameters in the launch file of the hector_mapping. I've tried but it's still not working. I attach here the mapping_default.launch (opt/ros/indigo/share/hector_mapping/launch/mapping_default.launch).

<?xml version="1.0"?>

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="odom_frame" default="nav"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>

  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="base_link" />

 <!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="true"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

 <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config --> 
    <param name="advertise_map_service" value="true"/>

     <param name="scan_subscriber_queue_size" value="$(a

rg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <!-- Debug parameters -->
      <param name="output_timing" value="false"/>
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>

     <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />


  <!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->

Again, thanks a lot. A detailed answer would be super appreciated.

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It sounds like nothing is broadcasting the transform from base_link to the LiDAR's frame (laser ?) See my answer here: http://answers.ros.org/question/23436...

spmaniato gravatar image spmaniato  ( 2016-07-28 12:05:45 -0500 )edit

And also this answer for how to add the aforementioned static_transform_publisher : http://answers.ros.org/question/22753...

spmaniato gravatar image spmaniato  ( 2016-07-28 12:07:06 -0500 )edit

Thanks @spmaniato! I'll do that, I'll be back soon with (I hope) results.

thepirate16 gravatar image thepirate16  ( 2016-07-29 05:54:41 -0500 )edit