problem with hector mapping, map not building

asked 2016-08-26 07:52:16 -0600

gleb gravatar image

updated 2016-08-30 04:38:56 -0600

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
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Comments

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.

patrchri gravatar imagepatrchri ( 2016-08-27 22:22:39 -0600 )edit

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...

patrchri gravatar imagepatrchri ( 2016-08-30 09:48:44 -0600 )edit

...since hector_mapping provides localization for the robot with the /slam_out_pose topic published by it.

patrchri gravatar imagepatrchri ( 2016-08-30 09:49:17 -0600 )edit