laser_scan_matcher with vrep/scan
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