TF problem with google cartographer

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

Pandacool gravatar image

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

Hello,

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 https://drive.google.com/open?id=0B1c... https://drive.google.com/open?id=0B1c...

And here is my TF tree if that can help but it seems all right https://drive.google.com/open?id=0B1c...

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

Comments

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