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Build map with hector_slam and SICK laser

Hi to all,

I'm trying to build a map in RVIZ by using hector_slam and my SICK laser, but I'm having lots of problems. What I would like to do is to move around the laser inside my room and build a map in real-time. For this reason, I won't have a robot with odometry topic since I'll physically move the laser around the environment.

I've already read the hector_slam tutorial (http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot) and I think I should use tips at point (2), but I don't know in which launch file I have to insert this code. The problem is that I don't know which launch file I should use and how to modify it in order to specify the correct frame to use. For example, if I run roslaunch hector_slam_launch mapping_box.launch, I get this error:

[INFO] [1463570714.703498474]: lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.


Can you suggest me what kind of launch file I need to use and how I have to modify it, please? I could not find any good tutorial on how to do this..

Build map with hector_slam and SICK laser

Hi to all,

I'm trying to build a map in RVIZ by using hector_slam and my SICK laser, but I'm having lots of problems. What I would like to do is to move around the laser inside my room and build a map in real-time. For this reason, I won't have a robot with odometry topic since I'll physically move the laser around the environment.

I've already read the hector_slam tutorial (http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot) and I think I should use tips at point (2), but I don't know in which launch file I have to insert this code. The problem is that I don't know which launch file I should use and how to modify it in order to specify the correct frame to use. For example, if I run roslaunch hector_slam_launch mapping_box.launch, I get this error:

[INFO] [1463570714.703498474]: lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.


Can you suggest me what kind of launch file I need to use and how I have to modify it, please? I could not find any good tutorial on how to do this..

EDIT: I've already tried to understand the source code of mapping_default.launch but it comes with no comments or explanations inside and so I really can't understand what it does.

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/> # what is the meaning of base_footprint?
<arg name="odom_frame" default="nav"/>  # what I have to specify here?
<arg name="pub_map_odom_transform" default="true"/> # this has to be set to false?
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>

<node pkg="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="$(arg pub_map_odom_transform)"/>  Build map with hector_slam and SICK laser Hi to all, I'm trying to build a map in RVIZ by using hector_slam and my SICK laser, but I'm having lots of problems. What I would like to do is to move around the laser inside my room and build a map in real-time. For this reason, I won't have a robot with odometry topic since I'll physically move the laser around the environment. I've already read the hector_slam tutorial (http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot) and I think I should use tips at point (2), but I don't know in which launch file I have to insert this code. The problem is that I don't know which launch file I should use and how to modify it in order to specify the correct frame to use. For example, if I run roslaunch hector_slam_launch mapping_box.launch, I get this error: [INFO] [1463570714.703498474]: lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.  Can you suggest me what kind of launch file I need to use and how I have to modify it, please? I could not find any good tutorial on how to do this.. EDIT: I've already tried to understand the source code of mapping_default.launch but it comes with no comments or explanations inside and so I really can't understand what it does.  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_footprint"/> # what is the meaning of base_footprint? <arg name="odom_frame" default="nav"/> # what I have to specify here? <arg name="pub_map_odom_transform" default="true"/> # this has to be set to false? <arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/> <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> <!-- Frame names --> <param name="map_frame" value="map" /> <param name="base_frame" value="$(arg base_frame)" value="base_frame" />
<param name="odom_frame" value="$(arg odom_frame)" value="base_frame" /> <!-- Tf use --> <param name="use_tf_scan_transformation" value="true"/> <param name="use_tf_pose_start_estimate" value="false"/> <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>


Build map with hector_slam and SICK laser

Hi to all,

I'm trying to build a map in RVIZ by using hector_slam and my SICK laser, but I'm having lots of problems. What I would like to do is to move around the laser inside my room and build a map in real-time. For this reason, I won't have a robot with odometry topic since I'll physically move the laser around the environment.

I've already read the hector_slam tutorial (http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot) and I think I should use tips at point (2), but I don't know in which launch file I have to insert this code. The problem is that I don't know which launch file I should use and how to modify it in order to specify the correct frame to use. For example, if I run roslaunch hector_slam_launch mapping_box.launch, I get this error:

[INFO] [1463570714.703498474]: lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.


Can you suggest me what kind of launch file I need to use and how I have to modify it, please? I could not find any good tutorial on how to do this..

EDIT: I've already tried to understand the source code of mapping_default.launch but it comes with no comments or explanations inside and so I really can't understand what it does.

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/> # what is the meaning of base_footprint?
<arg name="odom_frame" default="nav"/>  # what I have to specify here?
<arg name="pub_map_odom_transform" default="true"/> # this has to be set to false?
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="base_frame" />
<param name="odom_frame" value="base_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="$(arg pub_map_odom_transform)"/> </node>  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 base_frame laser 100"/> Build map with hector_slam and SICK laser Hi to all, I'm trying to build a map in RVIZ by using hector_slam and my SICK laser, but I'm having lots of problems. What I would like to do is to move around the laser inside my room and build a map in real-time. For this reason, I won't have a robot with odometry topic since I'll physically move the laser around the environment. I've already read the hector_slam tutorial (http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot) and I think I should use tips at point (2), but I don't know in which launch file I have to insert this code. The problem is that I don't know which launch file I should use and how to modify it in order to specify the correct frame to use. For example, if I run roslaunch hector_slam_launch mapping_box.launch, I get this error: [INFO] [1463570714.703498474]: lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.  Can you suggest me what kind of launch file I need to use and how I have to modify it, please? I could not find any good tutorial on how to do this.. EDIT: I've already tried to understand the source code of mapping_default.launch but it comes with no comments or explanations inside and so I really can't understand what it does.  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_footprint"/> # what is the meaning of base_footprint? <arg name="odom_frame" default="nav"/> # what I have to specify here? <arg name="pub_map_odom_transform" default="true"/> # this has to be set to false? <arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/> <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> <!-- Frame names --> <param name="map_frame" value="map" /> <param name="base_frame" value="base_frame" /> <param name="odom_frame" value="base_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="$(arg pub_map_odom_transform)"/>
</node>


<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 base_frame laser 100"/>

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