ROS slam_toolbox not updating after first map

asked 2021-08-21 04:50:13 -0600

Hello. I am new to ROS and I am trying to get started working with slam_toolbox.

After starting successfully my project with slam_toolbox, it posts a partial initial map that I can see on rviz, but afterwards if the robot is moved, the LaserScan data shows the new points but the map remains the same.

I have a lidar mounted on top of the robot publishing LaserScan messages with frame_id laser_link. My slam_toolbox config looks like this:

launch file:

<node pkg="slam_toolbox" type="sync_slam_toolbox_node" name="slam_toolbox" output="screen"> <rosparam command="load" file="$(find slam_toolbox)/config/mapper_params_offline.yaml"/> </node> <node pkg="slam_toolbox" type="merge_maps_kinematic" name="merge_maps_kinematic" output="screen"/> <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser_link 100"/>

and this config

odom_frame: base_link

map_frame: map

base_frame: base_link

scan_topic: /scan

mode: mapping #localization

debug_logging: false

throttle_scans: 1

I only got it working with the static transform publisher, but it doesn't update and no pose is specified. I am sure there is something regarding transformations i don't fully understand. I would appreciate any resources or explanations you can give.

I am using ROS1 noetic on ubuntu arm on a raspberry pi

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