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2015-06-06 07:49:11 -0500 | asked a question | need help regarding hector slam..i am using rplidar i am now successfully running hector slam..i got no error but when i move the lidar the map also changes..i.e map is instantaneous. i got following massage in terminal SearchDir angle change too large my launch files are given mapping_default.launch <launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_footprint"/> <arg name="odom_frame" default="nav"/> <arg name="pub_map_odom_transform" default="true"/> <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"> </node> <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100"/> ===== tutorial.launch <launch> <arg name="geotiff_map_file_path" default="$(find hector_geotiff)/maps"/> <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/> <include file="$(find hector_mapping)/launch/mapping_default.launch"/> <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"> <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/> <arg name="map_file_path" value="$(arg geotiff_map_file_path)"/> </include> </launch> and when i run rosrun tf tf_echo base_link laser i get the following At time 1434038117.749 - Translation: [0.000, 0.000, 0.000] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY [0.000, -0.000, 0.000] At time 1434038118.750 - Translation: [0.000, 0.000, 0.000] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY [0.000, -0.000, 0.000] At time 1434038119.751 - Translation: [0.000, 0.000, 0.000] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] need help |