jas's profile - activity

  Currently I have a Hokoyo Laser Range Finder, PC104 3353f(for onboard), a

Microstrain 3DM-GX3-25 IMU and PC (ground PC) I am trying to achieve something similar to this video: [http://www.gkmm.tu-darmstadt.de/rescue/?q=node/141] However, I do not know how am I supposed to integrate the IMU with hector_slam.

  Now I am already able to get a map when there is only horizontal and slow

movement. But this "SearchDir angle change too large" error appears frequently when there is a fast movement or change in angle a bit...

  I launch the following launch file together to get the map : hokuyo test.launch

(default launch file) , microstarain_3dmgx2.launch (default launch file), geotiff_mapper.launch (default launch file) and hector_ugv.launch (but this i edit it a bit)

  This is the edited launch file from hector_ugv.launch(original given launch file<?xml version="1.0"?><launch><!--node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg" /--><node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"><param name="scan_topic" value="/scan" /><param name="base_frame" value="base_stabilized" /><param name="map_frame"  value="map" /><param name="odom_frame" value="nav" /><param name="output_timing" value="false"/>

<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" />

<param name="map_pub_period" value="1.0" />
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="1024"/>

</node>

<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>

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

<node pkg="tf" type="static_transform_publisher" name="nav_base_broadcaster" args="0 0 0 0 0 0 nav base_stabilized 100"/>

<node pkg="tf" type="static_transform_publisher" name="nav_baselink_broadcaster" args="0 0 0 0 0 0 nav base_link 100"/>

<node pkg="tf" type="static_transform_publisher" name="nav_foot_broadcaster" args="0 0 0 0 0 0 nav base_footprint 100"/>

</launch>

  when i type the "roswtf"command, i found the following error:

ERROR Communication with [/hokuyo] raised an error:

ERROR Communication with [/map_nav_broadcaster] raised an error:

ERROR Communication with [/nav_base_broadcaster] raised an error:

ERROR Communication with [/rosout] raised an error:

ERROR Communication with [/nav_foot_broadcaster] raised an error:

ERROR Communication with [/hector_mapping] raised an error:

ERROR Communication with [/nav_baselink_broadcaster] raised an error:

ERROR The following nodes should be connected but aren't: * /hector_mapping->/hector_mapping (/tf) * /hokuyo->/hector_mapping (/scan) * /nav_foot_broadcaster->/hector_mapping (/tf) * /nav_baselink_broadcaster->/hector_mapping (/tf) * /map_nav_broadcaster->/hector_mapping (/tf) * /nav_base_broadcaster->/hector_mapping (/tf)

Thank you in advanced for your help

How to combine the hector slam (mapping) with microstrain imu ? will it be cancel out the "SearchDir angle change too large"? thanks

Do you have any idea ** to correct the following warning setting?

[WARN] [1340092854.777455509]: Message from [/hokuyo] has a non-fully-qualified

frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once. [WARN] [1340092854.968655384]: Message from [/hector_mapping] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once. [ERROR][1340123076.274228430]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map] [ERROR] [1340123076.523439543]: Trajectory Server: Transform from /map to /base_link failed: Unable to lookup transform, cache is empty, when looking up transform from frame [/base_link] to frame [/map]

Is it possible to use the combination of a laser_scan_matcher and gmapping for UAV flight SLAM? (for a better mapping) Because I would like to implement it on UAV...the above bag file is the handhold mapping though (thanks for helping)

I've run the hokuyo laser and microstrain imu with my regular PC and try to map out but the drifting come along when turning, or object close to the laser which make the map miserable.....

Here is the trail .bagfile of hector slam

http://code.google.com/p/hectormapping/downloads/list

Is there anyone know that how to fix the problem?

(Thanks for your helping )

I have testing out one problem associate with the drifting in rviz... which is whenever i put my hand very close to my laser scanner, the drifting occur dramatically and SearchDir angle change too large appear a lot. is there any thing i can do? (Thanks in advance)

http://code.google.com/p/hectormapping/downloads/list (Thanks for your help)

what is the communication between the following frame?

Base on my understanding, I'll assume the parent-child relationship as below

Parent ----> child

--- ----> map (map_frame)

map ----> nav (odom_frame)

nav ----> base_footprint (base_frame)

base_footprint ----> base_stabilized

base_stabilized ----> base_link

base_link ----> laser

Is this above relationship correct?

Since I'm gonna implement on the UAV...... The problems that i'm getting are the following :

[lookupTransform base_footprint to laser timed out. Could not transform laser scan into base_frame.]

what is the link between nav--->base_stabilized? how to tf it?

what should i set the base_frame to? base_stabilized or based_footprint?

Finally do you have any suggestion/ideas that how all the tf for the large angle change and have roll/pitch movement of the UAV should link together?

(Thank in advanced for your helping) :D

the embedded PC(500 MHz/LX600 366 MHz processor) only running the hector, imu and hokuyo packages and i have recorded the .bag file which run on the regular PC here is my .bag file http://code.google.com/p/hectormapping/downloads/list