# Revision history [back]

### hector slam with xtion - workable?

Hi all,

I've been playing around with Hector SLAM, seems to be "starting" to work.

The map (when viewed in rviz) shows the current scan, however move the robot and the map doesn’t move or "jumps" to a completely different place. With I take to mean that the scan matcher fails

Also there are quite a few

lookupTransform /base_link to /laser_link timed out. Could not transform laser scan into base_frame


despite having a static transform set up

<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="1 0 0 0 0 0 1 /base_link /laser_link 100"/>


However I've looked at similar posts (i.e. Hector Slam with kinect here I should give up on this and revert to getting gmapping working?

Thanks

Mark

### hector slam with xtion - workable?

Hi all,

I've been playing around with Hector SLAM, seems to be "starting" to work.

The map (when viewed in rviz) shows the current scan, however move the robot and the map doesn’t move or "jumps" to a completely different place. With I take to mean that the scan matcher fails

Also there are quite a few

lookupTransform /base_link to /laser_link timed out. Could not transform laser scan into base_frame


despite having a static transform set up

<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="1 0 0 0 0 0 1 /base_link /laser_link 100"/>


However I've looked at similar posts (i.e. Hector Slam with kinect here I should give up on this and revert to getting gmapping working?

The scan message it remapped to base_link

header:
seq: 2865896
stamp:
secs: 1430742417
nsecs: 166665707
angle_min: -0.517280697823
angle_max: 0.503935337067
angle_increment: 0.00159814720973
time_increment: 0.0
scan_time: 0.0329999998212
range_min: 0.449999988079
range_max: 10.0
ranges: [ etc etc...]


Thanks

Mark

### hector slam with xtion - workable?

Hi all,

I've been playing around with Hector SLAM, seems to be "starting" to work.

The map (when viewed in rviz) shows the current scan, however move the robot and the map doesn’t move or "jumps" to a completely different place. With I take to mean that the scan matcher fails

Also there are quite a few

lookupTransform /base_link to /laser_link timed out. Could not transform laser scan into base_frame


despite having a static transform set up

<node pkg="tf" type="static_transform_publisher" name="static_transform_publisher3" args="1 0 0 0 0 0 1 /base_link /laser_link 100"/>


However I've looked at similar posts (i.e. Hector Slam with kinect here I should give up on this and revert to getting gmapping working?

header:
seq: 2865896
stamp:
secs: 1430742417
nsecs: 166665707
angle_min: -0.517280697823
angle_max: 0.503935337067
angle_increment: 0.00159814720973
time_increment: 0.0
scan_time: 0.0329999998212
range_min: 0.449999988079
range_max: 10.0
ranges: [ etc etc...]


Thanks

Mark