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Problem getting real-time_map using hector_slam!!!

asked 2018-01-14 04:19:04 -0600

updated 2018-01-29 10:10:15 -0600

'Hello all,

I am using Xbox360, Ros Kinetic, Ubuntu 16.04LTS

I am new to ROS. I want to map an unknown enviroment using kinect. For this I am using freenect and gmapping. I have done these steps:

  1. roslaunch freenect_launch freenect.launch
  2. rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/camera/depth/points
  3. rosbag record -O mybag /scan
  4. rostopic echo /scan /////////i can see scan data is available here
  5. rqt_graph

here is my MY RQT_GRAPH and here is MY FRAMES.PDF

This is all great.

But the problem is getting data from the bag file

  1. roscore
  2. rosparam set use_sim_time true
  3. roslaunch hector_slam_launch tutorial.launch scan:=/base_scan
  4. rosbag play --clock mybag.bag
  5. rqt_graph

here is my MY RQT_GRAPH and here is MY FRAMES.PDF

I can't see any error in RViz. But I can't see the map either. The terminal where I launch hector_slam shows the error that

[ WARN] [1515990267.492285826]: No transform between frames /map and scanmatcher_frame available after 20.002855 seconds of waiting. This warning only prints once.
[ INFO] [1515990270.173023564]: lookupTransform base_footprint to camera_depth_optical_frame timed out. Could not transform laser scan into base_frame.
  1. rostopic pub syscommand std_msgs/String "savegeotiff"

but the terminal in which tutorial.launch is running stated that

[ INFO] [1515995399.174200553]: HectorSM sysMsgCallback, msg contents: savegeotiff 
[ INFO] [1515995399.174327483]: HectorSM Map service called
[ INFO] [1515995399.194847114]: GeotiffNode: Map service called successfully
[ INFO] [1515995399.222169236]: Cannot determine map extends!
[ INFO] [1515995399.222222911]: Couldn't set map transform

I HAVE ALSO RUN rosrun tf view_frames AND I NOTICED THAT world IS NOT CONNECTED TO base_frame

can anyone help me with this

please do post a comment if any other specifications required.

Thank you in advance.....

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Lookuptransform Data _______cannot publish transform...............or something like........... no connection between base_frame

I highly doubt that this is the actual error that you're getting. Please update your question with a copy and paste of the actual error message from the terminal.

jayess gravatar image jayess  ( 2018-01-14 12:03:47 -0600 )edit

I have updated my question.@jayess

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-01-14 22:29:02 -0600 )edit

@NAGALLA DEEPAK: is your caps lock and/or / key broken?

gvdhoorn gravatar image gvdhoorn  ( 2018-01-16 07:13:01 -0600 )edit

Thank you @gvdhoorn for all the struggle you have taken to edit my question. There isn't any problem with my keys but I have typed like that only to highlight important things.

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-01-18 07:01:32 -0600 )edit

Could some one give solution to my question? It is very urgent.

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-01-18 07:04:08 -0600 )edit

@NAGALLA DEEPAK we all have deadlines. It's not like people aren't answering because they don't want to. Perhaps no one who has seen your question has time to answer it (giving good answers takes a lot of time) or knows the solution.

jayess gravatar image jayess  ( 2018-01-18 11:14:58 -0600 )edit

I haven't used hextor_slam but it looks like you have a problem with your network. Are you using a simulator or a physical robot?

jayess gravatar image jayess  ( 2018-01-18 11:18:54 -0600 )edit

Sorry for the earlier post.

NAGALLA DEEPAK gravatar image NAGALLA DEEPAK  ( 2018-01-19 03:40:44 -0600 )edit

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answered 2018-01-29 10:03:31 -0600

updated 2018-12-17 19:25:12 -0600

jayess gravatar image

Hello all,

After going through different tutorials, and through the help of some people, I am able to produce the map.

For this I have established the TF between different frames manually.

By this command

rosrun tf static_transform_publisher 0 0 0 0 0 0 nav base_footprint 100

in the terminal.

Also used the above line to connect ( base_footprint and base_frame) also ( laser and camera_link ).

This way I am able to produce the real time map.

Thanks to all who has helped me in getting this work done.

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Asked: 2018-01-14 04:19:04 -0600

Seen: 745 times

Last updated: Dec 17 '18