How to get hector SLAM to work with a velodyne?

asked 2018-09-14 13:11:32 -0500

Monty Hall gravatar image

Subject says it all. I "roslaunch hector_slam_launch tutorial.launch" and then I "roslaunch velodyne_pointcloud 32e.launch pcap:="a pcap file.pcap" and then I "rosrun velodyne_laserscan velodyne_laserscan_node". This doesn't work. If I launch the velodyne_pointcloud and velodyne_laserscan from tutorial.launch and comment out "use_sim_time", I see the following pop up in the console: "lookupTransform base_footprint to velodyne timed out. Could not transform laser scan into base frame. Not sure how to handle this. Any insight appreciated. Thanks

edit retag flag offensive close merge delete


Sounds like you're having TF issues - I would look into this. Additionally, that's a 3D lidar, you'll need to take only 1 channel for planar slam

stevemacenski gravatar image stevemacenski  ( 2018-09-14 17:42:44 -0500 )edit

The velodyne_laserscan package automatically extracts the channel closest to zero degrees and publishes as a 2D LaserScan, and it's part of the standard launch files.

kmhallen gravatar image kmhallen  ( 2018-09-15 19:47:41 -0500 )edit