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Hokuyo Node Frame ID problem for Slam

asked 2013-04-28 22:41:16 -0600

cheour gravatar image

updated 2014-01-28 17:16:22 -0600

ngrennan gravatar image


I'm trying to do slam with hector_mapping. I have setted up all the necessary steps. All the transforms have been made. But when I run the rviz it seems there is no transform between base_link and laser. But actually it is published with static transform publisher and I confirmed that with tf_monitor.

When I run tf_monitor for base_link and laser, under laser it says "NO PARENT". These brings to my mind if there is problem with hokuyo_node. When I look at it, it seems ok and frame_id is setted to laser.

I really get confused with that. Any helps appreciated.

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Can you post the commandline or parameters you are using for your static transform publisher? Also you could post your tf tree from rosrun tf view_frames.

Ben_S gravatar image Ben_S  ( 2013-04-29 01:24:31 -0600 )edit

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answered 2016-01-24 07:56:38 -0600

bailiqun gravatar image

when you run hector_slam without odom,your view_frame like this /map -> /base_link this is publish by hector-slam,then /base_link -> /laser publish by static-transform.and I don't really get your problem,could you provide detail?

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Asked: 2013-04-28 22:41:16 -0600

Seen: 480 times

Last updated: Jan 24 '16