How to produce odom data from hector slam?

asked 2019-10-18 09:55:27 -0600

wallybeam gravatar image

I am using ROS Kinetic, hector slam, amcl. I have a lidar and I am trying to autonomously navigate a vehicle by using just the lidar. In order to get odom data from hector slam I added following line to my launch file.

    <param name="pub_odom" value="true"/>

But it didn't work. So, how could I get odom data from hector slam? Here is my launch file:

<?xml version="1.0"?>

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>

<arg name="base_frame" default="base_link"/>

<arg name="odom_frame" default="base_link"/>

<arg name="pub_map_odom_transform" default="true"/> <arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan0"/> <arg name="map_size" default="2048"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="pub_odom" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />


<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/> </launch>

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This seems related to a past question here

Can you see if the solution there helps you?

Jari gravatar imageJari ( 2019-10-18 12:06:28 -0600 )edit