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Hector_mapping RVIZ visualization showing everything but the map

asked 2013-01-29 05:52:42 -0600

Ernest gravatar image

updated 2014-01-28 17:15:01 -0600

ngrennan gravatar image

Hi,

So, this is an odd one. I got the following "good" visualisation of hector_mapping in RVIZ (http://i.imgur.com/lYppRzn.png (imgur link) because I need 20 karma to attach an image..) by running this simple launch file:

<?xml version="1.0"?>
<launch>
    <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

        <param name="pub_map_odom_transform" value="true"/>
        <param name="map_frame" value="map" />
        <param name="base_frame" value="base_link" />
        <param name="odom_frame" value="base_link" />

    </node>

    <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100" />


</launch>

I must have changed something because when I re-ran re-ran the hector_mapping node and the visualisation I got http://i.imgur.com/yoiXaUy.png (this) - the base_link frame seems to be moving fine but I don't see the map (what was in grey on the first screenshot) anymore.

Any idea why the map isn't being displayed anymore?

Thanks in advance,

Ernest


Some extra info:

tf_monitor returns this:

 Frame: /base_link published by
 /hector_mapping Average Delay:
 0.0366189 Max Delay: 0.0540163 Frame: /laser published by
 /base_to_laser_broadcaster Average
 Delay: -0.0994484 Max Delay: 0 Frame:
 /scanmatcher_frame published by
 /hector_mapping Average Delay:
 0.0367215 Max Delay: 0.0540429

 All Broadcasters: Node:
 /base_to_laser_broadcaster 10.1691 Hz,
 Average Delay: -0.0994484 Max Delay: 0
 Node: /hector_mapping 80.7814 Hz,
 Average Delay: 0.0366702 Max Delay:
 0.0540429
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answered 2013-01-29 19:18:39 -0600

This indeed is odd behavior. Is this reproducible all the time? Does it also happen when doing the MappingUsingLoggedData tutorial?

There is a small map in your second image, so it seems rviz received some map data.

You're probably playing back a bag file, right? Are you sure you are using rosbag correctly (See here)? OTOH, if there is pose output from hector_mapping, there generally should also be map output.

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Actually it's not reproducible at all anymore! So all systems go now, the RVIZ looks great.

Also, I see that you are the author of the hector_mapping package: my team (http://goo.gl/V3ukX) and I would like to say THANK YOU for your amazing work - we are localizing & mapping using your node :)

Ernest gravatar imageErnest ( 2013-02-02 09:37:00 -0600 )edit

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Asked: 2013-01-29 05:52:42 -0600

Seen: 903 times

Last updated: Jan 29 '13