Hi,

I have a scanse spinning lidar that I'm trying to use to generate a map using gmapping. Right now I have a base_link->laser_frame tf that I am publishing using tf2_ros. Since gmapping requires a odom->base_link tf, I am now trying to use laser_scan_matcher to generate that transform.

However, I'm stuck with trying to generate the odom->base_link. Here is the launch file I'm using to run laser_scan_matcher:

<?xml version="1.0"?>

<launch>
  <node pkg="mavros" type="mavros_node" name="mavros" clear_params="true">
    <param name="fcu_url" value="tcp://127.0.0.1:5760" />
    <param name="system_id" value="1" />
  </node>

  <node 
    pkg="laser_scan_matcher"
    type="laser_scan_matcher_node"
    name="laser_scan_matcher_node"
    output="screen"
  >
    <param name="base_frame" value="base_link" />
    <param name="fixed_frame" value="odom" />
    <param name="use_imu" value="true" />
    <param name="use_odom" value="false" />
    <param name="use_vel" value="false" />
    <param name="max_iterations" value="10" />
    <param name="publish_tf" value="true" />
    <param name="publish_pose" value="true" />

    <remap from="imu/data" to="/mavros/imu/data" />
    <remap from="scan" to="/camera/scan" />
  </node>
</launch>

And here is my launch file for running my scanse lidar:

<?xml version="1.0"?>

<launch>
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find realsense_ros_camera)/urdf/test_r200_camera.urdf.xacro'" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_2_camera_link" args="0 0 0 0 0 0 base_link camera_link"/>

  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" args="0.13 0 0 0 0 0 base_link laser"/>

  <!-- run sweep_node node -->
  <node 
    name="sweep_node"          
    pkg="sweep_ros"  
    type="sweep_node" 
    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="rotation_speed" value="5" />
  </node>

  <!-- run pointcloud_to_laserscan node -->
  <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

    <remap from="cloud_in" to="pc2"/>
    <remap from="scan"  to="/camera/scan"/>

    <rosparam>
        target_frame: "laser" 
        transform_tolerance: 0.001
        min_height: -0.5
        max_height: 0.5

        angle_min: -2.14 
        angle_max: 2.14 
        angle_increment: 0.005 
        scan_time: 0.1
        range_min: 0.1
        range_max: 40.0
        use_inf: true

        concurrency_level: 1
    <rosparam />
  </node>
</launch>

Additionally, I'm getting the following warning over and over when running laser_scan_matcher:

:err: Valid: 31/857 invalid: 826.
[ WARN] [1523266642.454564818]: Error in scan matching

I am using Ubuntu 16.04 with ROS Kinetic with the scanse sweep-ros wrapper.

Also, here is an output of /camera/scan:

header: 
  seq: 1262
  stamp: 
    secs: 1523266739
    nsecs: 995312062
  frame_id: "laser"
angle_min: -2.1400001049
angle_max: 2.1400001049
angle_increment: 0.00499999988824
time_increment: 0.0
scan_time: 0.10000000149
range_min: 0.10000000149
range_max: 40.0
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inf, inf, inf, inf, inf, inf, 1.0199999809265137, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.0, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.190000057220459, inf, inf, inf, inf, inf, inf, inf, inf, 2.1600000858306885, inf, inf, inf, inf, inf, inf, inf, inf, 1.8499999046325684, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.8799999952316284, inf, inf, inf, inf, inf, inf, inf, inf, 1.9300000667572021, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.850000023841858, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.790000081062317, inf, inf, inf, inf, inf, inf, inf, 1.8899999856948853, inf, inf, inf, inf, inf, inf, inf, inf, 1.8700000047683716, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.9800000190734863, inf, inf, inf, inf, inf, inf, inf, inf, 2.0199999809265137, inf, inf, inf, inf, inf, inf, inf, inf, 2.009999990463257, inf, inf, inf, inf, inf, inf, inf, inf, 2.049999952316284, inf, inf, inf, inf, inf, inf, inf, inf, 2.0, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.049999952316284, inf, inf, inf, inf, inf, inf, inf, inf, 1.9499999284744263, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.7799999713897705, inf, inf, inf, inf, inf, inf, inf, inf, 1.909999966621399, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.909999966621399, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.0, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.0900001525878906, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.169999837875366, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.2300000190734863, inf, inf, inf, inf, inf, inf, inf, inf, 2.140000104904175, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.2899999618530273, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.75, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.690000057220459, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.570000171661377, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.4099998474121094, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.6699999570846558, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 1.8100000619888306, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.069999933242798, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.1100001335144043, inf, inf, inf, inf, inf, inf, inf, inf, 2.109999895095825, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.1100001335144043, inf, inf, inf, inf, inf, inf, inf, inf, 2.059999942779541, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.06000018119812, inf, inf, inf, inf, inf, inf, inf, inf, 2.0299999713897705, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.009999990463257, inf, inf, inf, inf, inf, inf, inf, 2.0199999809265137, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.059999942779541, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.009999990463257, inf, inf, inf, inf, inf, inf, inf, inf, 2.009999990463257, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.0399999618530273, inf, inf, inf, inf, inf, inf, inf, inf, 2.049999952316284, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.059999942779541, inf, inf, inf, inf, inf, inf, inf, inf, 2.0999999046325684, inf, inf, inf, inf, inf, inf, inf, inf, 2.169999837875366, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.190000057220459, inf, inf, inf, inf, inf, inf, inf, inf, 2.25, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.25, inf, inf, inf, inf, inf, inf, inf, 2.379999876022339, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.330000162124634, inf, inf, inf, inf, inf, inf, inf, inf, 2.309999942779541, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.25, inf, inf, inf, inf, inf, inf, inf, inf, inf, 2.620000123977661, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, inf, 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intensities: []

EDIT: Replaced picture with actual text and added some more info on configuration and output per @mig's advice.

Thanks in advanced!