RVIZ SLAM RPLidar problem

SLAM
rplidar

asked 2015-05-15 07:22:45 -0600

osmancns
153 ●31 ●34 ●43

Hello friends...

I am using The RPLIDAR (Robopeak) for hector slam mapping. This lidar has a publisher node. that link is: http://wiki.ros.org/rplidar and ı use its commands like this:

$ roslaunch rplidar_ros rplidar.launch $ roslaunch hector_slam_launch tutorial.launch ( it is started RVIZ program)

this is working and starting publish lidar scan data. I added LASER_SCAN and MAP tools on RVIZ display.

if ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "laser" , I can see LIDAR data on RVİZ on rviz display.

BUT !!!! f ı write Laser_Scan -> Topic "/scan" and GLobal Options -> fixed frame "map" , I can NOT see LIDAR data on RVİZ on rviz display. and I see this error:

*Transform [sender=unknown_publisher] For frame [laser]: Fixed Frame [map] does not exist*

ı need to use HECTOR_SLAM Method like this video but ı cannot started it ....

link text

please help me...

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answered 2015-05-17 07:58:57 -0600

AlexR
654 ●18 ●26 ●38

updated 2015-05-17 08:00:52 -0600

An easy solution would be to manually starting a tf publisher that publishes the needed transform from the base_link (localized) to the laser scanner frame. See the example launch file below:

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

and you should have your hector_mapping parameters like this :

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

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answered 2015-05-17 09:04:28 -0600

osmancns
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Thank you so much

But where is the hector_mapping.launch. is it in catkin_ws->hector_slam->?

and how can I add your said tf publisher?

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Comments

Same issue here. I would like hector mapping, rather than some real time map. Many people have seemed to figured this out, but I cannot for the life of me find any precise documentation on how. I feel I'm missing something simple. I've tried MRPT but the driver is buggy and distorts the data.

casper911ca ( 2015-07-23 17:12:51 -0600 )edit

For people that still need help with this, you can put AlexR's line of code in your own launch file or you can run the static transform publisher from the terminal. Another option is to put the transform in your robot's transform broadcaster.