Hector_slam and frames ?!!! I'm lost...
Hi all. I have a wheeled robot that provide odometry, ahrs and a laser. I'm trying to use hector_slam but I don't understand the frame and transform system.
My base robot package provide an "/odom" topic and frame. This frame has the "/base_link" frame as child : driver code
I set up my launch file as follow :
<node pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen">
<remap from="imu_topic" to="/imu" />
<param name="base_stabilized_frame" type="string" value="/base_stabilized" />
<param name="base_frame" type="string" value="/base_frame" />
</node>
<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="/base_footprint" />
<param name="odom_frame" value="/odom" />
<!-- 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="true"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="2048"/>
<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="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="5"/>
<param name="scan_topic" value="/laser/scan"/>
<param name="tf_map_scanmatch_transform_frame_name" value="scanmatcher_frame" />
</node>
<node pkg="tf" type="static_transform_publisher" name="laser_link" args="0.031 0.0 0.251 0.0 0.0 0.0 /base_link /laser 50" />
<node pkg="tf" type="static_transform_publisher" name="imu_link" args="-0.049 0.0 0.180 0.0 0.0 0.0 /base_link /imu 50" />
When I launch my launch file I have the following errors :
[ INFO] [1341430193.896364275]: lookupTransform /base_footprint to /laser timed out. Could not transform laser scan into base_frame. [ERROR] [1341430193.945936734]: Trajectory Server: Transform from /map to /base_link failed: Frame id /map does not exist! Frames (9): Frame /base_link exists with parent /odom. Frame /odom exists with parent NO_PARENT. Frame /base_frame exists with parent /base_stabilized. Frame /base_stabilized exists with parent NO_PARENT. Frame /laser exists with parent /base_link. Frame /imu exists with parent /base_link.
One week I'm trying to understand the frame and transform system without success :/ Is there an exemple that exmplain how to use hector_slam from scratch ?