hector_slam_launch

asked 2012-06-28 22:46:41 -0600

sjigi123
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updated 2012-07-01 10:44:10 -0600

Eric Perko

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Hello,

I can't clearly understand how to set up a launch file with the base_frame or odom. I get the same error /map doesnt exist.

My purpose is to use the hector_slam (ie hector_mapping) in order to do for the time being the same process as we can see on the video in the hector_slam wiki page. I am only using a hokuyo no imu and no odom. Can someone help me to write the launch file ?

Thanks

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answered 2012-07-01 08:06:27 -0600

jodafo

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did you read http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot ?

you have to follow the instructions under 2 (Use without odom frame). I.e. set both base_frame and odom_frame to your hokuyo/robot frame in the launch file. As a starting point maybe take a look at the given launch files in hector_mapping/launch (if i remember correctly).

maybe try that, and if it still does not work do "rosrun tf view_frames" and check if hector mapping publishes a transform from /map to /yourRobotFrame

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answered 2012-07-01 03:10:57 -0600

sjigi123
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Do I need a tf publisher ?

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You might need to publish a transform from your robot to the hokoyu, im not completly sure on that one. Try a static transform from /base to /scan, then set base_frame and odom_frame parameter in launch file to /base.

jodafo ( 2012-07-01 12:52:13 -0600 )edit

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