ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question
0

How do I set tf for hector slam correctly?

asked 2019-09-21 06:03:26 -0600

navid gravatar image

updated 2019-09-21 06:05:08 -0600

Hello, I want to create a launch file to set up tf for my robot without odom frame as said in link below:

http://library.isr.ist.utl.pt/docs/ro...

<launch>

        <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.25 0 0 0.0 0.0 0.0 base_frame laser 100" />
        <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" />

</launch>

After I launch this file, rqt_tf_tree only shows base_frame and laser. Why is this happening?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2021-05-09 00:38:28 -0600

navid gravatar image

updated 2021-05-09 00:38:59 -0600

This happens if you don't provide sufficient data for your TF. My encoders were not publishing data on the TF and the AMCL failed to produce MAP to ODOM transformations.

edit flag offensive delete link more

Question Tools

1 follower

Stats

Asked: 2019-09-21 06:03:26 -0600

Seen: 191 times

Last updated: May 09 '21