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Hi, I assume you checked this How-To-Do for setting up the TFs.

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

In cases where you to not have any odometry (UAV and so on) this frame is equal to base_stabilized and you can set it up this way:

<param name="base_frame" value="base_stabilized" />
<param name="odom_frame" value="base_stabilized"/>

We also use Hector on UAVs (Octocopters, result video here). The our default Launch configuration is below:

<launch>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="scan_topic" value="scan"/>

<!-- 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="3.5" />

<!-- 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" />

<param name="pub_map_odom_transform" value="true"/>

<!--
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
</node>

<param name="hector_mapping/pub_map_odom_transform" value="true"/>

<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/> </launch>

Hope this solves your issues.

Hi, I assume you checked this How-To-Do for setting up the TFs.

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

In cases where you to not have any odometry (UAV and so on) this frame is equal to base_stabilized and you can set it up this way:

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_stabilized" value="base_frame" />
<param name="odom_frame" value="base_stabilized"/>
value="base_frame" />

We also use Hector on UAVs (Octocopters, result video here). The our default Launch configuration is below:

<launch>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="scan_topic" value="scan"/>

<!-- 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="3.5" />

<!-- 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" />

<param name="pub_map_odom_transform" value="true"/>

<!--
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
</node>

<param name="hector_mapping/pub_map_odom_transform" value="true"/>

<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/> </launch>

Hope this solves your issues.

Hi, I assume you checked this How-To-Do for setting up the TFs.

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

In cases where you to not have any odometry (UAV and so on) this frame is equal to base_stabilized and you can set it up this way:

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_frame" />
<param name="odom_frame" value="base_frame" />

We also use Hector on UAVs (Octocopters, result video here). The our default Launch configuration is below:

<launch>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
   
 
<param name="base_frame" value="base_stabilized" />
<param name="odom_frame" value="base_stabilized"/>
<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="scan_topic" value="scan"/>
 <!-- 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="3.5" />
 <!-- 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" />
 <param name="pub_map_odom_transform" value="true"/>
 <!--
 <param name="pub_drawings" value="true"/>
 <param name="pub_debug_output" value="true"/>
-->
</node>
 <param name="hector_mapping/pub_map_odom_transform" value="true"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />
</launch>
 
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"/>
  </launch> 
Hope this solves your issues.