Problem with hector_mapping [closed]

asked 2013-07-08 12:36:51 -0500

Eisenhorn gravatar image

updated 2014-01-28 17:17:10 -0500

ngrennan gravatar image

Hello,

hector_mapping has been working fine, but after trying to use deph map, transformation between odom and map got broken. For some reason I now get the Exceprtion Exception thrown:Frame id /map does not exist!, altough I am using

<param name="pub_map_odom_transform" value="true"/>

As far as I understand pub_map_odom_transform when set true should take care of that?!?

rosrun tf tf_echo /map /odom gets me this output

Exception thrown:Frame id /map does not exist! Frames (6): Frame /left_rod exists with parent /base_link.
Frame /base_link exists with parent /odom.
Frame /laser exists with parent /left_axis.
Frame /left_axis exists with parent /left_rod.
Frame /odom exists with parent NO_PARENT.

The current list of frames is:
Frame /left_rod exists with parent /base_link.
Frame /base_link exists with parent /odom.
Frame /laser exists with parent /left_axis.
Frame /left_axis exists with parent /left_rod.
Frame /odom exists with parent NO_PARENT.

Starting hector_slam gives me this

process[hector_mapping-10]: started with pid [8223]

HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ INFO] [1373319249.373929584]: HectorSM p_base_frame_: base_link
[ INFO] [1373319249.374349401]: HectorSM p_map_frame_: map
[ INFO] [1373319249.374605713]: HectorSM p_odom_frame_: odom
[ INFO] [1373319249.374907338]: HectorSM p_scan_topic_: scan
[ INFO] [1373319249.375153432]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1373319249.375400161]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1373319249.375703376]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1373319249.375985619]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1373319249.376243683]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1373319249.377038764]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1373319249.377326007]: HectorSM p_map_update_distance_threshold_: 0.400000 
[ INFO] [1373319249.377581406]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1373319249.377832680]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1373319249.378105144]: HectorSM p_laser_z_max_value_: 1.00000

0

I don't see why it wouldn't publish the transform?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-06-07 20:28:49.578577