ROS slam_toolbox not updating after first map
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
