Hector_mapping not generate the map

asked 2018-08-27 05:40:54 -0500

frasar
1 ●2 ●3 ●3

Hello guys, I'm novice in ROS. I'm trying a new laser scanner for generating a map, I receive the points of the laser scanner but hector_mapping not generate the map, I don't know why... P.S. I'm running Ubuntu 17.10 on Virtualbox, ROS melodic.

Unfortunately I can't post a screenshot.

my code on shell:

roslaunch xxxxxxxx_lidar ls.launch scan_mode:=104

file ls.launch

<?xml version="1.0"?>

<launch>
  <!-- .launch XML config files for xxxxxxxx_lidar -->

  <param name="pub_map_odom_transform" value="true"/> 
  <param name="map_frame" value="map"/> 
  <param name="base_frame" value="base_frame"/> 
  <param name="odom_frame" value="base_frame"/>

  <arg name="ip" default="192.168.0.200" />
  <arg name="port" default="10940" />
  <arg name="frame_id" default="lidar" />
  <arg name="point_unit" default="frame" />      <!-- frame/line -->
  <arg name="scan_mode" default="999" />         <!-- 0/1/2/3/4 -->
  <arg name="line_start" default="999" />        <!-- 0~50 -->
  <arg name="line_end" default="999" />          <!-- 0~50 -->
  <arg name="intensity" default="true" />        <!-- true/false -->
  <arg name="multi_echo" default="true" />       <!-- true/false -->
  <arg name="multi_line" default="2" />          <!-- 0/1/2 -->
  <arg name="multi_frame" default="false" />     <!-- true/false -->
  <arg name="up_side" default="true" />          <!-- true/false -->
  <arg name="distance_min" default="0.01" />     <!-- 0.01/0.0~50.0 -->
  <arg name="distance_max" default="50.0" />     <!-- 50.0/0.0~50.0 -->
  <arg name="height_min" default="-50.0" />      <!-- -50.0~-50.0 -->
  <arg name="height_max" default="50.0" />       <!-- 50.0~-50.0 -->
  <arg name="width_min" default="-50.0" />       <!-- -50.0~-50.0 -->
  <arg name="width_max" default="50.0" />        <!-- 50.0~-50.0 -->
  <arg name="pan_min" default="-180" />          <!-- -180~0 -->
  <arg name="pan_max" default="180" />           <!-- 180~0 -->
  <arg name="tilt_min" default="-90" />          <!-- -90~0 -->
  <arg name="tilt_max" default="90" />           <!-- 90~0 -->

  <node pkg="xxxxxxxx_lidar" name="xxxxxxxx_lidar" type="xxxxxxxx_lidar">
    <!-- Attributes: name="namespace/name" value="value" type="str|int|bool" -->
    <param name="ip" value="$(arg ip)" type="str"/>
    <param name="port" value="$(arg port)" type="int"/>
    <param name="frame_id" value="$(arg frame_id)" type="str"/>
    <param name="point_unit" value="$(arg point_unit)" type="str"/>
    <param name="scan_mode" value="$(arg scan_mode)" type="int"/>
    <param name="line_start" value="$(arg line_start)" type="int"/>
    <param name="line_end" value="$(arg line_end)" type="int"/>
    <param name="intensity" value="$(arg intensity)" type="bool"/>
    <param name="multi_echo" value="$(arg multi_echo)" type="bool"/>
    <param name="multi_line" value="$(arg multi_line)" type="int"/>
    <param name="multi_frame" value="$(arg multi_frame)" type="bool"/>
    <param name="up_side" value="$(arg up_side)" type="bool"/>
    <param name="distance_min" value="$(arg distance_min)" type="str"/>
    <param name="distance_max" value="$(arg distance_max)" type="str"/>
    <param name="height_min" value="$(arg height_min)" type="str"/>
    <param name="height_max" value="$(arg height_max)" type="str"/>
    <param name="width_min" value="$(arg width_min)" type="str"/>
    <param name="width_max" value="$(arg width_max)" type="str"/>
    <param name="pan_min" value="$(arg pan_min)" type="str"/>
    <param name="pan_max" value="$(arg pan_max)" type="str"/>
    <param name="tilt_min" value="$(arg tilt_min)" type="str"/>
    <param name="tilt_max" value="$(arg tilt_max)" type="str"/>
  </node>

  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find xxxxxxxx_lidar)/tool/ls.rviz" />

  <include file="$(find hector_mapping)/launch/mapping_xxxxxxxx.launch"/> 

</launch>

file mapping_xxxxxxxx.launch: