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Okay, got it working. There was an issue with the tf tree being published to laser_scan_matcher.
Here's my working launch file for laser_scan_matcher.
Just replace step 4 with roslaunch <this_launch_file>.launch

<launch>

#### publish an example base_link -> laser transform ###########
### this was the error ###
<!--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="tf" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 0 0 0 /base_link /camera_link 100"/>

#### start the laser scan_matcher ##############################
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="base_frame" value="base_link"/>
    <param name="fixed_frame" value="world"/>
    <param name="use_alpha_beta" value="true"/>
    <param name="use_odom" value="false"/>
    <param name="use_imu" value="false"/>
    <param name="max_iterations" value="10"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_tf" value="true"/>
    <param name="use_vel" value="false"/>

</node>
</launch>