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Not able to create a map using SLAM Mapping( Kobuki+Hokuyo UST-10LX)

asked 2019-04-08 03:09:03 -0500

ashu gravatar image

Ive been trying to run the Kobuki slam package on my Kobuki using a Hokuyo UST-10LX connected over ethernet but after running the kobuki_slam package,in Rviz i keep getting map not received warning. The odometry seems to be working though when i move around using teleop.However,no map is created.

I connect the laser using the following command :

rosrun urg_node urg_node _ip_address:="192.168.0.11" scan:=base_scan

If I don`t specify the scan= base_scan parameter i keep getting [frame_id] laser does not exist error on the object of Rviz.

Here`s my rqt_graph at execution :

rqt_graph

And here is my tf_tree

tf_tree

It might not be enough info to go on, but can someone tell me where I am going wrong with this? Where I should focus on to try and fix this?

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answered 2019-04-08 12:00:13 -0500

Well looking at your TF tree, the error you're seeing is very literal, you don't have a laser frame defined in your TF tree. You need to add one so that a SLAM implementation can transform the laser to base link.

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Thanks.That made me realize what was wrong. The static transform was using laser and the slam algorithm was using base_scan. Just had to change them all to laser.

ashu gravatar image ashu  ( 2019-04-08 21:27:01 -0500 )edit

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Asked: 2019-04-08 03:09:03 -0500

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Last updated: Apr 08 '19