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Hello,... no sure if this is the right way to do it, but here I go... I'm having a fairly similar problem... my error messages says:

[ INFO] [1513946503.671288116]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.
[ INFO] [1513946504.178969028]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.
[ INFO] [1513946504.687717843]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.
[ INFO] [1513946505.195699788]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.
[ INFO] [1513946505.704076349]: lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.

: my frames.pdf here

using a slightly modified version from the default launch files provided: mapping_default.launch

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="base_frame"/> <arg name="odom_frame" default="base_frame"/> <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" />  <!--  original : $(arg base_frame) -->
<param name="odom_frame" value="odom" />  <!-- original : $(arg odom_frame) -->

<!-- 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="$(arg pub_map_odom_transform)"/>

<!-- 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"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

</node>

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100"/> <node pkg="tf" type="static_transform_publisher" name="base_link_2_laser_link" args="0 0 0 0 0 0 /base_link /laser 100"/>

</launch>

and tutorial.launch

<?xml version="1.0"?>

<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>

my hardware: 1. iRobot_create using the drivers provided by: https://github.com/AutonomyLab/create_autonomy 2. Hokuyo URG Lidar using hokuyo_node 3. Kinetic distribution

any help will really appreciated as I'm going crazy with this trying to make it work.

thanks!