hector slam problem with scanmatcher frame pose

asked 2021-01-16 09:34:07 -0500

vatrasar gravatar image

I use hector to mapping area from simulation in coppelia sim. I don't move my robot using motors, instead I just set his pose with fixed step. Because of that i don't use odom frame. Infos from laser are properly using to create map but I have poroblems with scanmatcher frame

First issue is with it's init position. It should be the same like base_footprint in my oppinion but instead it is same like map frame(you can see it on that photo link text) Second issue is that, when i moveing my robot, scanmatcher frame starts to teleport to a random positions(in the same time base_footprint behaves normal). You can see it on that photo:link text. Additionally it shows me an error in console:

SearchDir angle change too large

I publish all frames and scan info, manually from my own nodes.

here you can see infos from rqt about tf and nodes: link text

here is my code from mapping_default.launch

<?xml version="1.0"?>

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="odom_frame" default="nav"/>
  <arg name="pub_map_odom_transform" default="false"/>
  <arg name="scan_subscriber_queue_size" default="50"/>
  <arg name="scan_topic" default="myLaserInfo"/>
  <arg name="map_size" default="2048"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg base_frame)" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.6" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "5.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />



Is it possible to for example manually publish scanmatcher frame?

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