map does not show up on RVIZ while using hector_slam
Hello everyone, i am using RPLIDAR A1 and hector_slam but so for there is no luck, RVIZ will start with nothing and no map in it. Here is the details:
from this topic https://github.com/robopeak/rplidar_r... roslaunch rplidar rplidar.launch
<launch>
<node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen">
<param name="serial_port" type="string" value="/dev/ttyUSB0"/>
<param name="serial_baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="laser"/>
<param name="inverted" type="bool" value="false"/>
<param name="angle_compensate" type="bool" value="true"/>
</node>
</launch>
and i think it runs fine because i get this
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /rplidarNode/angle_compensate: True
* /rplidarNode/frame_id: laser
* /rplidarNode/inverted: False
* /rplidarNode/serial_baudrate: 115200
* /rplidarNode/serial_port: /dev/ttyUSB0
NODES
/
rplidarNode (rplidar_ros/rplidarNode)
auto-starting new master
process[master]: started with pid [2876]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 4191033a-ff48-11e7-a91f-08002791f4c4
process[rosout-1]: started with pid [2889]
started core service [/rosout]
process[rplidarNode-2]: started with pid [2903]
RPLIDAR running on ROS package rplidar_ros
SDK Version: 1.5.7
RPLIDAR S/N: 4450FBF2C8E49CCFC6E49FF1BA82530D
Firmware Ver: 1.20
Hardware Rev: 0
RPLidar health status : 0
then i run roslaunch hector_slam_launch tutorial.launch
<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>
<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"/>
</launch>
and i get
SUMMARY
========
PARAMETERS
* /hector_geotiff_node/draw_background_checkerboard: True
* /hector_geotiff_node/draw_free_space_grid: True
* /hector_geotiff_node/geotiff_save_period: 0.0
* /hector_geotiff_node/map_file_base_name: hector_slam_map
* /hector_geotiff_node/map_file_path: /home/mohamed/cat...
* /hector_geotiff_node/plugins: hector_geotiff_pl...
* /hector_mapping/advertise_map_service: True
* /hector_mapping/base_frame: base_link
* /hector_mapping/laser_z_max_value: 1.0
* /hector_mapping/laser_z_min_value: -1.0
* /hector_mapping/map_frame: map
* /hector_mapping/map_multi_res_levels: 2
* /hector_mapping/map_resolution: 0.05
* /hector_mapping/map_size: 2048
* /hector_mapping/map_start_x: 0.5
* /hector_mapping/map_start_y: 0.5
* /hector_mapping/map_update_angle_thresh: 0.06
* /hector_mapping/map_update_distance_thresh: 0.4
* /hector_mapping/odom_frame: nav
* /hector_mapping/pub_map_odom_transform: True
* /hector_mapping/scan_subscriber_queue_size: 5
* /hector_mapping/scan_topic: scan
* /hector_mapping/tf_map_scanmatch_transform_frame_name: scanmatcher_frame
* /hector_mapping/update_factor_free: 0.4
* /hector_mapping/update_factor_occupied: 0.9
* /hector_mapping/use_tf_pose_start_estimate: False
* /hector_mapping/use_tf_scan_transformation: True
* /hector_trajectory_server/source_frame_name: scanmatcher_frame
* /hector_trajectory_server/target_frame_name: /map
* /hector_trajectory_server/trajectory_publish_rate: 0.25
* /hector_trajectory_server/trajectory_update_rate: 4.0
* /rosdistro: kinetic
* /rosversion: 1.12.7
* /use_sim_time ...
did you check which frame you selected in rviz?
You should check the "map" frame in rviz and check you are subscribed on the topic.