Jhair's profile - activity

You are making a mistake here:

param name="base_frame" value="base_link"

param name="odom_frame" value="base-link"

It should be the same "base_link" for both.

I don't understand very well your launch file. I did it writing 3 launch files. The first one to setup the RVIZ, launch the hector_mapping.launch and the geotiff_mapper.launch. The second one to setup the hector_mapping parameters and also to launch the urg node. And the third one to setup the geotiff parameters. Those are mi files. I hope it helps.

slam.launch

<launch>

<param name="/use_sim_time" value="false"/>ros
<node pkg="rviz" type="rviz" name="rviz" 
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
<include file="$(find laser_prueba)/hector_mapping.launch"/>

<include file="$(find laser_prueba)/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/> 
</include>

</launch>

hector_mapping.launch

<launch>

<node pkg="urg_node" type="urg_node" name="laser_scan">
  <param name="port" value="/dev/ttyACM0"/>
  <param name="frame_id" value="laser"/>
  <param name="calibrate_time" type="bool" value="true"/>  
  <param name="intensity" type="bool" value="false"/>
  <param name="min_ang" value="-2.356194437"/>   
  <param name="max_ang" value="2.35619443"/>    
  <param name="cluster" value="1"/>
</node>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"    output="screen">
  <param name="pub_map_odom_transform" value="true"/>
  <param name="map_frame" value="map" />
  <param name="base_frame" value="base_link" />
  <param name="odom_frame" value="base_link" />
  <!-- Map size / start point -->
  <param name="map_resolution" value="0.025"/>
  <param name="map_size" value="2048"/>
  <param name="map_start_x" value="0.5"/>
  <param name="map_start_y" value="0.5" />
  <param name="laser_z_min_value" value="-2.5" />
  <param name="laser_z_max_value" value="7.5" />

  <!-- Map update parameters -->
  <param name="update_factor_free" value="0.4"/>
  <param name="update_factor_occupied" value="0.7" />    
  <param name="map_update_distance_thresh" value="0.2"/>
  <param name="map_update_angle_thresh" value="0.06" />
</node>

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster"  args="0 0 0 0 0 0 /base_link /laser 100" />  

</launch>

geotiff_mapper.launch

<launch>
<arg name="trajectory_source_frame_name" default="/base_link"/>
<arg name="trajectory_update_rate" default="4"/>
<arg name="trajectory_publish_rate" default="0.25"/>

<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
<param name="target_frame_name" type="string" value="/map" />
<param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
<param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
<param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
</node>


<node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
<remap from="map" to="/dynamic_map" />
<param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
<param name="map_file_base_name" type="string" value="uprobotics" />
<param name="geotiff_save_period" type="double" value="0" />
<param name="draw_background_checkerboard" type="bool" value="true" />
<param name="draw_free_space_grid" type="bool" value="true" />
</node>

</launch>