help with hector_exploration and hector_mapping
Hi,
I am trying to run hector_exploration_node and hector_mapping.
First, I launch the pointcloud_to_laserscan (I am using a kinect and getting laser scan data from pointcloud_to_laserscan), then I run the launch file for hector mapping, and then I run the launch file for hector_exploration_node. I also have segway drivers running in the background.
After launching hector_ exploration_node, I get this warning: Waiting on transform from /base_link to /map to become available before running costmap, tf error:
After messing with the launch file, I managed to get this warning: Waiting on transform from /base_link to /map to become available before running costmap, tf error: Could not find a connection between '/map' and '/base_link' because they are not part of the same tree.Tf has two or more unconnected trees.
I edited the hector_ugv.launch file and added the following: "node pkg="tf" type="static_transform_publisher" name="base_link_map_broadcaster" args="0 0 0 0 0 0 base_link map 100"
After this, I managed to get rid of the previous error and now it says "Initializing hectorExplorationPlanner" but does not do anything after that.
I have read through the other similar questions but I do not understand the solutions posted. I am also wondering why I did not get a specific tf error in the first place and if the edit that I made to get rid of the tf error is even correct.
Another thing, can I simply install and run hector_exploration_node as it is or do I need to change some configurations? If so, what configurations should I change?
Any help would be sincerely appreciated, thank you!
