Laserscan readings moving with robot in rviz, unable to produce map

asked 2020-04-09 15:33:16 -0500

NiamhD gravatar image

I am using a turtlebot 2 and a RPLidar A2 to try and map an environment using gmapping. I follow these steps to setup:

  • roslaunch rplidar_ros rplidar.launch
  • rosrun tf static_transform_publisher -0.08 0 0.55 0 0 0 base_lilnk laser 100
  • rosrun gmapping slam_gmapping

When I open rviz and view the LaserScanner readings it seems that the laser readings move with the robot. The video below shows this in action. This prevents me from building an accurate map. See video of rviz map build:

https://www.youtube.com/watch?v=KfHTQ...

I can not upload the tf frames image, however the tree has the following layout:

  • map > odom > base_footprint > base_link > laser

Laser frame info:

  • Broadcaster: /static_transform_publisher_1586437092966717683
  • Average rate: 20.129 Hz
  • Most recent transform: 1586437132.558 ( -0.034 sec old)
  • Buffer length: 4.918 sec
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