How can I stop the map rotating

I trying to mapping. my rplidar is a2, and using hector slam and my robot is a drone.

this link is my mapping test video

that is wrong

probably I think that rplidar or drone don't recognize the direction of my robot during drawing the map

I want to drawing the map like this link

I use default launch file in rplidarros, hectorslam

(rplidarros/launch/viewrplidar.launch & hectorslam/hectormapping/launch/mapping_default.launch)

my tf tree picture

image description

If rplidar knows the direction of rotation of the drone, I can solve it.

but I don't know the way of it

How can I get some rotating direction information of drone?

or is it problem that rotating rplidar?

please some advice

I have to solve this problem .

edit)

What is hectorposeestimation ? What is the purpose and how do I use it?

Asked by DongHyeong Kang on 2018-06-01 02:11:23 UTC

check the tf between map and other link using 'rosrun rqt_tf_tree rqt_tf_tree`

Asked by simbha on 2018-06-01 03:10:58 UTC

Post your result for 'rosrun rqt_tf_tree rqt_tf_tree' and rqt_graph. Possibly wrong tf tree.

Asked by accio on 2018-06-01 03:21:52 UTC

sorry to late attach tf tree screen shot

Asked by DongHyeong Kang on 2018-06-05 01:17:49 UTC

please see picture of this link. it is my tf tree

Asked by DongHyeong Kang on 2018-06-05 01:51:32 UTC

Hi, The issue is that you forgot to use the odometry from the hector_mapping. In your launch file, add this line or edit the param if exist

<param name="pub_odometry" value="true" />

From the tf I can see that you don't have odom linked below map. Follow REP 105 to make your tf intact.

Asked by accio on 2018-06-08 04:20:20 UTC

Thank you . I will try that

Asked by DongHyeong Kang on 2018-06-08 04:31:35 UTC