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How can I stop the map rotating

asked 2018-06-01 02:11:23 -0600

DongHyeong Kang gravatar image

updated 2018-06-05 11:40:52 -0600

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

https://youtu.be/gtI-O04xKWM

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

https://youtu.be/pCF7P7u8pDk

I use default launch file in rplidar_ros, hector_slam

(rplidar_ros/launch/view_rplidar.launch & hector_slam/hector_mapping/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 hector_pose_estimation ? What is the purpose and how do I use it?

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

simbha gravatar imagesimbha ( 2018-06-01 03:10:58 -0600 )edit

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

accio gravatar imageaccio ( 2018-06-01 03:21:52 -0600 )edit

sorry to late attach tf tree screen shot

DongHyeong Kang gravatar imageDongHyeong Kang ( 2018-06-05 01:17:49 -0600 )edit

https://answers.ros.org/question/2904...

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

DongHyeong Kang gravatar imageDongHyeong Kang ( 2018-06-05 01:51:32 -0600 )edit

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answered 2018-06-08 04:20:20 -0600

accio gravatar image

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.

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Thank you . I will try that

DongHyeong Kang gravatar imageDongHyeong Kang ( 2018-06-08 04:31:35 -0600 )edit

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Asked: 2018-06-01 02:11:23 -0600

Seen: 371 times

Last updated: Jun 08 '18