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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:


        <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" />


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

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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.

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

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Last updated: May 09 '21