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Use hector slam and youbot -- laser scan tf [closed]

asked 2017-01-30 11:09:46 -0600

matteopantano gravatar image

Hi guys,

I am trying to do the mapping using hector slam and as odom publisher laser scan matcher. See frame tree tree frame. Hector cannot connect odom to map probably because the tf of the laser scanner is :

base_laser_front_link

Is there a method to say to hector that the laser scanner frame is base_laser_front_link?

Thanks

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Closed for the following reason the question is answered, right answer was accepted by matteopantano
close date 2017-05-05 15:46:16.347720

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answered 2017-01-31 07:17:58 -0600

Hector should get the right frame from the scan message itself: did you check if the frame_id specified in your sensor_msgs/LaserScan messages is the right one?

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Hi Alessandro, we checked the frame id and it turned to be /base_laser_front_link. How can we tell to hector to use this specified frame?

We have already used hector_mapping in past projects but now we are facing with a complex one! Thanks

matteopantano gravatar imagematteopantano ( 2017-01-31 08:16:50 -0600 )edit

I checked on the source code and I'm sure that the scan frame id is obtained by LaserScan message header. Which error message you have fro Hector Mapping? Can you attach the rqt_graph output, an echo of your LaserScan message and the Hector Mapping configuration?

afranceson gravatar imageafranceson ( 2017-01-31 08:44:36 -0600 )edit

I use lsm to publish odom: lsm.launch This is launch file of hector: hector.launch

matteopantano gravatar imagematteopantano ( 2017-01-31 09:26:56 -0600 )edit

Error form hector: hector error Echo of scan_front: echo scan Rqt: rqt

matteopantano gravatar imagematteopantano ( 2017-01-31 09:28:05 -0600 )edit

Sorry but the laser scan echo screenshot does not include the header! Can you please send me it too?

afranceson gravatar imageafranceson ( 2017-01-31 10:07:49 -0600 )edit

Sorry, here we are scan

matteopantano gravatar imagematteopantano ( 2017-01-31 10:39:17 -0600 )edit

I managed to solve my problem by linking the laser_frame to base_footprint instead of base_link

matteopantano gravatar imagematteopantano ( 2017-01-31 10:52:41 -0600 )edit

Happy for you! To be honest it sounds quite strange to me but if it works...

Anyway: in your LaserScan header the frame is /laser_link and not base_laser_front_link! Did yo change something in between? Further more I think you should remove the initial slash...

afranceson gravatar imageafranceson ( 2017-01-31 13:00:19 -0600 )edit

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Asked: 2017-01-30 11:09:46 -0600

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Last updated: Jan 31 '17