hector_mapping + imu issue
Hi, I am working with the hector_mapping and hector_imu_attitude_to_tf. After I added the imu node to the system, I haven't been able see any improvement in the estimated map when I force my robot to pitch/roll and the estimated position and map become useless. My robot doesn't provide odometry data. I am not sure if I am renaming the frames correctly, should base_stabilished be declared in my urdf robot file or is it only necessary for the slam nodes?
Here are the launch files I am using:
example.launch (hector_imu_attitude_to_tf)
<launch> <param name="/use_sim_time" value="true" /> <node pkg="MERLIN_hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen"> <param name="base_stabilized_frame" type="string" value="base_stabilished" /> <param name="base_frame" type="string" value="base_link" /> </node> </launch>
mapping_default.launch (hector_mapping)
<?xml version="1.0"?> <launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_stabilished" /> <arg name="odom_frame" default="base_stabilished"/> <arg name="pub_map_odom_transform" default="true"/> <arg name="scan_subscriber_queue_size" default="20"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/> <node pkg="MERLIN_hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> <!-- Frame names --> <param name="map_frame" value="map" /> <param name="base_frame" value="$(arg base_frame)" /> <param name="odom_frame" value="$(arg odom_frame)" /> <!-- Tf use --> <param name="use_tf_scan_transformation" value="true"/> <param name="use_tf_pose_start_estimate" value="false"/> <param name="pub_map_odom_transform" value="false"/>
(rest of the code in this file remains the same)