Problems with gmapping and Husky A200

edit

Hi to all,

I'm trying to build a 2D map by using Husky A200, IMU and a SICK laser with ROS Indigo. The IMU sensor is places at the center of the robot while the SICK laser is placed 40 centimeters over the IMU sensor.

I moved the robot indoor for few meters and I recorded a bag file which contains different topics like:

/tf
/scan
/imu/data
/odometry/filtered
...

This is the bag file: download bag 15MB.

Then, I use these commands in order to try to build the map:

roscore
rosparam set use_sim_time true
roslaunch husky_gazebo husky_empty_world.launch 
roslaunch husky_viz view_robot.launch
rosrun gmapping slam_gmapping scan:=scan
rosbag play --clock test1.bag

When I run RVIZ, I get some errors and I can't build the map. I set /map as fixed frame. The errors are:

For frame [base_laser]: No transform to fixed frame [map]
frame [laser] does not exist

Should I use /odom as fixed frame?

I think the problem is that I don't have a tf for the laser, but I don't understand how to solve this problem. Can you help me, please?

EDIT: I already tried to use the husky gmapping demo instead of rosrun gmapping slam_gmapping scan:=scan, but I have the same problem. This is the content of the gmapping.launch file used by Husky in the navigation tutorial. Do you think the problem is in this code line:

<remap from="scan" to="$(arg scan_topic)"/> at the bottom of the file ?

<launch>

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

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping">
    <rosparam>
      odom_frame: odom
      base_frame: base_link
      map_frame: map

      map_update_interval: 0.5 # Publish new map

      maxUrange: 5.5 # Should be just less than sensor range
      maxRange: 6.1 # Should be just greater than sensor range
      particles: 100 # Increased from 80

      # Update frequencies
      linearUpdate: 0.3
      angularUpdate: 0.5
      temporalUpdate: 2.0
      resampleThreshold: 0.5

      # Initial Map Size
      xmin: -100.0
      ymin: -100.0
      xmax: 100.0
      ymax: 100.0
      delta: 0.05

      # All default
      sigma: 0.05
      kernelSize: 1
      lstep: 0.05
      astep: 0.05
      iterations: 5
      lsigma: 0.075
      ogain: 3.0
      lskip: 0
      llsamplerange: 0.01
      llsamplestep: 0.01
      lasamplerange: 0.005
      lasamplestep: 0.005

    </rosparam>
    <remap from="scan" to="$(arg scan_topic)"/>
  </node>
</launch>