hector mapping before rplidar node?

asked 2017-08-21 12:22:37 -0600

gerard gravatar image

updated 2017-08-21 16:06:36 -0600

First of all, thanks for your future answers.

Why if I run the rplidar node before the hector_mapping and hector_geotiff launchers I get the error:

[ INFO] [1502821857.396404571]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

But if I run hector_mapping and hector_geotiff launchers before run the rplidar node everything is fine and I get the map?

This is my hector_mapping.launch:

<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="odom"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"    output="screen">

<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="odom" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="true"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster"      args="0 0 0 0 0 0 /base_link /laser 100" />

<node pkg="tf" type="static_transform_publisher" name="scanmatcher_odom_broadcaster" args="0 0 0 0 0 0 /odom /map 100"/>



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