problem with hector mapping, map not building
Hi all,
I am trying to simulate a car-like robot in gazebo for hector mapping and amcl navigation. When I try to record the map, the map does not build up but moves along with the robot. For better understanding I have uploaded 2 images: https://postimg.org/image/c34oos2u9/ https://postimg.org/image/9n2vaxkrl/
Does anyone know what may be the reason for that problem?
Thank you in advance!
Update:
This is how my tf-tree looks like: https://postimg.org/image/3n5ekgkih/ . roswtf is giving me the following output:
WARNING The following node subscriptions are unconnected:
* /hector_mapping:
* /syscommand
* /azcar_sim/obstacleStopperazcar_sim:
* /azcar_sim/cmd_vel
* /rviz_1472549092700612555:
* /map_updates
* /azcar_sim/lidar_points
* /gazebo:
* /gazebo/set_link_state
* /gazebo/set_model_state
WARNING These nodes have died:
* azcar_sim/urdf_spawnerazcar_sim-3
Have you checked your tf tree ? Have you run roswtf in case there is an error ? Please try to put more info about your robot setup.
Check this page for the hector_slam setup. My first observation would be that you have no base_footprint for your robot. You are also using amcl with hector_mapping which I don't know if it is needed...
...since hector_mapping provides localization for the robot with the /slam_out_pose topic published by it.