Gmapping not recognizing /tf data
Hello,
I am trying to get a gmapping
SLAM stack running on my Create 2, RP LIDAR A2 running on an Intel NUC.
The first ting I am trying to tackle building a map of my environment. I have a ROS bag recorded with my /scan
and /tf
data. However when I run
rosparam set use_sim_time true
rosrun gmapping slam_gmapping scan:=/scan _odom_frame:=/tf
play my rosbag
and run
rosrun map_server map_saver -f the name of my map
I get the error
Dropped 100.00% of messages so far. Please turn the [ros.gmapping.message_notifier] rosconsole logger to DEBUG for more information.
From my research so far it looks like this is becasue my /tf
topic is not formatted correctly.
Here is some sample output from my /tf
topic:
{
"transforms": [
{
"header": {
"stamp": {
"secs": 1567610189,
"nsecs": 432388718
},
"frame_id": "odom",
"seq": 0
},
"transform": {
"translation": {
"y": -0.0005495854,
"x": 0.0168445315,
"z": 0
},
"rotation": {
"y": 0,
"x": 0,
"z": -0.0266392006,
"w": 0.9996451135000001
}
},
"child_frame_id": "base_footprint"
}
]
}
Any insight into enabling the map builder to recognize my transform would be greatly appreciated!