Hector Slam generates Blank Map even Without Error

asked 2020-07-03 15:35:27 -0500

talha_wahab gravatar image

Respected Members, I am relatively new to ROS and currently I am trying to implement SLAM through Hector SLAM through coppeliaSim simulation. I will briefly explain the steps/parameters that i have implemented:

Step 1: TF tree being published (which is perfectly fine as it can be seen in Rviz as well):

'map' ---> 'odom' (through Hector_Mapping), 'map' ---> 'scanmatcher_frame' (through Hector Mapping), 'odom' to 'base_link' (through CoppeliaSim), 'base_link' to 'laser_link' (through coppeliaSim)

Step 2: '/sim_ros_interface/scan' LaserScan topic is working fine and can be seen in Rviz

Step 3: '/odom' Navigational Topic being generated through CoppeliaSim is working fine

Step 4: Following are the parameters set in Hector Mapping Launch File: toryMapWriter. HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024 Problem: Map is not being generated in Rviz and when save it through 'rosrun map_server map_saver -f ~/talha' then blank map is saved

It would really appreciate if someone can please help me out.

edit retag flag offensive close merge delete

Comments

Show us your complete hector launch file.

jordan gravatar image jordan  ( 2020-07-04 10:19:35 -0500 )edit