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When i run roslaunch hector_slam_launch tutorial.launch and rplidar_ros rplidar.launch , i get an error message lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

I am able to open up RVIZ, but displays Fixed Frame: No tf data. Actual error: Fixed Frame [map] does not exist.

My tf tree says no tf data received.

Here is all my rostopic list: /clicked_point /initialpose /map /map_metadata /map_updates /move_base_simple/goal /poseupdate /rosout /rosout_agg /scan /slam_cloud /slam_out_pose /syscommand /tf /tf_static /trajectory

Here is my launch file:

<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">

<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />

<!-- 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="false"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />    
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />

<!-- Advertising config --> 
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->

  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
  </node>

</launch>

This is a general question about what steps to take in order to compile code from source.

So I have currently installed hector slam from https://github.com/tu-darmstadt-ros-p... and I am confused on catkin_make process in order to compile the code. There are a lot of make errors that I am encountering, so please provide some direction on how to go about this and the next steps.

Thanks You!

I keep on receiving this error every time i execute roslaunch rplidar_ros view_rplidar.launch

I have executed source devel/setup.bash as well.

In addition, rplidar_ros exists on my rospack list.

When i execute, Rviz map/grid shows up, but with no laser scans.

please help with this matter.

I am not sure what is causing the error.

Issue resolved with tf code messages in hector_slam launch files.

rosrun map_server map_server <file_name>.yaml rosrun rviz rviz --> Add Map->topic /map

Issue resolved. Added tf code messages in AMCL launch file to configure with my robot.

Please see for follow up Q. link text

I have added a prebuilt map on RVIZ( as .yaml file using Map_Server) and have executed AMCL. I am able to see Pose Array, Map, LaserScan, TF, Pose, odom, and RobotModel on the side menu bar of RVIZ.

Problem:base_footprint is not being updated and laser scan is not being matched to the prebuilt map.

I am able to find the shortest path (green line) to destination goal, and pose array is being updated as the robot moves to a new random location

Any ideas on why this might be happening and how to fix it?? I am trying to accomplish autonomous navigation using a prebuilt map.

Thanks!

Here is my launch file:

<launch> <node name="map_server1" pkg="map_server" type="map_server" args="$(find map_server)/office.yaml"/>

<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40"/>

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen"> </node>

<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch" />

<node name="movebase" pkg="move_base" type="move_base" respawn="false" output="screen">

<rosparam file="$(find navigation2d_example)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find navigation2d_example)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find navigation2d_example)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation2d_example)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find navigation2d_example)/param/base_local_planner_params.yaml" command="load"/>
</node>

<node pkg="tf" type="static_transform_publisher" name="world_map" args="0 0 0 0 0 0 world map 10" />

<node pkg="tf" type="static_transform_publisher" name="map_odom" args="0 0 0 0 0 0 map odom 10" />

<node pkg="tf" type="static_transform_publisher" name="odom_base_link" args="0 0 0 0 0 0 odom base_footprint 20" />

<node pkg="tf" type="static_transform_publisher" name="base_foorptint_movebase" args="0 0 0 0 0 0 base_footprint move_base 20" />

<node pkg="tf" type="static_transform_publisher" name="movebase_baselink" args="0 0 0 0 0 0 move_base base_link 10" />

<node pkg="tf" type="static_transform_publisher" name="base_link_scanmatcher_frame" args="0 0 0 0 0 0 base_link scanmatcher_frame 25" />

<node pkg="tf" type="static_transform_publisher" name="base_link_nav" args="0 0 0 0 0 0 base_link nav 13" />

<node pkg="tf" type="static_transform_publisher" name="base_link_base_frame" args="0 0 0 0 0 0 base_link base_frame 13" />

<node pkg="tf" type="static_transform_publisher" name="baselink_laser" args="0 0 0 0 0 0 base_link laser 10" />

</launch>

Download navigation stack from github and run your existing map as .yaml file with map_server. Then, open RVIZ and add map to menu bar with topic /map.

Hope this helps!

I am also doing a similar thing with my irobot create 2 robot. Were you able to successfully upload your map onto RVIZ( using a .yaml file) ? I am having a similar problem as well. Please see attached my amcl.launch file for info. See link text for info. Screenshot from 2017-03-23 10-48-08.png

I ran the following commands simultaneously.. roslaunch hector_slam_launch tutorial.launch rosrun map_server map_server <file>.yaml roslaunch amcl amcl_diff.launch

but received message "No laser scan rece

I currently have made my map using Hector Slam and saved the map as .yaml file and .pgm .

I have downloaded the Navigation stack as well using git source: https://github.com/ros-planning/navig... . Also ran catkin_make afterwards.

Now, I am trying to implement AMCL by placing my robot( irobot create 2) onto the map and do autonomous mapping.

I am getting an error when i run am amcl file... which says " MapServer could not open <.yaml> file." Please see attached for my code.

Screenshot from 2017-03-23 10-48-08.png

Update:

I was able to upload map onto RVIZ, and executed amcl with proper tf/ messages. However, when I move the robot towards a location, the PoseArray points do not move. Please recommend a suggestion. Here is the screen pic. Screenshot from 2017-03-23 14-55-11.png