TF problem with google cartographer

asked 2017-05-30 02:06:31 -0500

Pandacool gravatar image

updated 2017-05-30 02:41:52 -0500


I'm working on map generation with different tools and I currently struggle with google cartographer for ROS. Only the first scan of the map appears on rviz and when I check my TF frames, the robot frames (laser, base_link, etc) stay at the same position while my odom frame is "moving" backward w.r.t. the robot movement in the simulator. It actually works fine with gmapping so I don't know what goes wrong here.

Here are my launch and config file for cartographer

And here is my TF tree if that can help but it seems all right

I'm relatively new with ROS, sorry if I misunderstand something.

Thank you in advance for your help

edit retag flag offensive close merge delete


also roswtf gives me this : WARNING The following node subscriptions are unconnected: * /cartographer_node: * /tf_static * /rviz_1496128181484858929: * /tf_static * /map_updates

Pandacool gravatar imagePandacool ( 2017-05-30 02:35:09 -0500 )edit

Hey, how did you build your TF?

S.Yildiz gravatar imageS.Yildiz ( 2018-09-11 03:11:54 -0500 )edit