laser_scan_matcher with vrep/scan

asked 2020-05-19 10:33:15 -0500

Hi,

I am trying this one on my environment.

https://sudonull.com/post/21487-Mappi...

I got a simulation environment:

with topic: vrep/scan

with TF: base_link -> laser_link

then I use laser_scan_matcher

I got TF: map -> odom.

I need the TF from odom -> laser_link for gmapping SLAM.

but I did not figure out how to create such link.

my launch file is as below:

<launch>

  <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">
    <param name="scan" value = "vrep/scan"/>
    <param name="fixed_frame" value = "odom"/>
    <param name="use_alpha_beta" value="true"/>
    <param name="max_iterations" value="10"/>
  </node>

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="scan" value = "vrep/scan"/>
    <param name="map_udpate_interval" value="1.0"/>
    <param name="delta" value="0.02"/>
  </node>

</launch>

I read this, but I still could not figure it out. https://answers.ros.org/question/1090...

Many thanks for hint.

The TF graph https://imgur.com/a/Ex9Piza

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