Map is shaking when launching hector and make the map a mess

asked 2020-08-10 05:58:27 -0600

kyozho gravatar image

hi i'm new with ROS. i make my own launcher for mapping area using hector map. what i get is the tf is shaking and make the map a mess. i thought it's was slow transffering data between my robot to computer. here is below my launcher file.

i'm using raspberry pi 3 as robot, and computer linked with rosmaster

specs; ~ydlidar X4 ~ros kinetic ~ubuntu 16.04

launcher /

node pkg="tf" type="static_transform_publisher" name="base_foot_to_base_link" args="0.0 0.0 0.0 0.0 0.0 0.0 base_footprint base_link 40"/

node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.2245 0.0 0.2 0.0 0.0 0.0 base_link laser_frame 40" /

include file="$(find hector_mapping)/launch/mapping_default.launch" /

node pkg="rviz" name="rviz" type="rviz" /

include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" /


here is the rviz map result;

edit retag flag offensive close merge delete


Your robot moving fast?

Xiao gravatar image Xiao  ( 2020-08-10 21:36:01 -0600 )edit

I have the similar problem. I cant not solve this problem and pass the hector slam. Or you can try it slowly especially rotating the robot

bfdmetu gravatar image bfdmetu  ( 2020-08-11 02:13:54 -0600 )edit

hi guys, thank you for helping. i think you are right, but that's not just the problem. the tf laser frame is flickering, I think this is because data transfer is too slow and make the map duplication?

kyozho gravatar image kyozho  ( 2020-08-11 03:27:47 -0600 )edit