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

asked 2017-01-30 11:09:46 -0500

32 ●9 ●10 ●14

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

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

answered 2017-01-31 07:17:58 -0500

afranceson
497 ●9 ●16 ●22 http://www.geduino.org/

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?

edit flag offensive delete link

Comments

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 ( 2017-01-31 08:16:50 -0500 )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 ( 2017-01-31 08:44:36 -0500 )edit

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

matteopantano ( 2017-01-31 09:26:56 -0500 )edit

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

matteopantano ( 2017-01-31 09:28:05 -0500 )edit

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

afranceson ( 2017-01-31 10:07:49 -0500 )edit

Sorry, here we are scan

matteopantano ( 2017-01-31 10:39:17 -0500 )edit

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

matteopantano ( 2017-01-31 10:52:41 -0500 )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 ( 2017-01-31 13:00:19 -0500 )edit

see more comments

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

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

1 Answer

Comments

Question Tools

Stats

Related questions

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

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

1 Answer

Comments

Question Tools

Stats

Related questions

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

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