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How to make a map with Hokuyo Lidar and Hector SLAM

asked 2019-08-21 02:45:29 -0500

bfdmetu gravatar image

I have Hokuyo Lidar T301C and connect to computer. I am using 14.04 indigo

If I use /dev/ttyACM0 , cannot access /dev/ttyACM0: No such file or directory

For this reason use connetct rosrun urg_node urg_node _ip_address:= )

I can get laser scan on Rviz.

when i was roslaunch hector_slam_launch tutorial.launch

i can not get any data with Rviz.

I get " [1566371851.208718770]: lookupTransform base_footprint to laser timed out. Could not transform laser scan into base_frame." error

I did some search. Most probably i have to change some code? But which code ? i can not find detailed info ?

Thank you for your help.

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Are you defining your transforms between frames?

PapaG gravatar image PapaG  ( 2019-08-22 18:51:49 -0500 )edit

Thank you your reply. I don't do transform. How can i transform? I found another code .

It works. However I have to learn how to define this transform

bfdmetu gravatar image bfdmetu  ( 2019-08-27 03:54:11 -0500 )edit

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answered 2019-08-27 18:43:17 -0500

PapaG gravatar image

You are not providing a transform for base_footprint to laser. To do this put the following in your launch file

<pkg="tf2_ros" name="laser_pub" type="static_transform_publisher" args="0 0 0 0 0 0 base_footprint laser"/>

Please see this for transform standards

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Asked: 2019-08-21 02:45:29 -0500

Seen: 390 times

Last updated: Aug 27 '19