WARN : No transform between frames /map and scanmatcher_frame available.

hectorslam

asked 2016-04-03 12:17:31 -0600

Mohan
1 ●1 ●2 ●3

updated 2016-04-03 12:46:37 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Hi everyone, I'm trying to map any unknown environment using HECTOR Slam with RPLidar alone. I run Hector Slam node in one terminal and also launched RPlidar node in another. But unable to get the map due to the following warning :

[WARN] [1459701587.170837560]: No transform between frames /map and scanmatcher_frame available after 20.001770 seconds of waiting.

I'm unable to figure out how to rectify the problem, as I'm new to ROS. Could anyone pls help me out.

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answered 2016-04-03 15:46:00 -0600

spmaniato

1788 ●40 ●56 ●69 http://www.spmaniato.me/

You are probably missing the (static) transformation between the /base_link frame and RPLidar's frame.

See http://answers.ros.org/question/20858...

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It worked. I'm able to get map, but distorted. I guess this might be due to not doing pre processing on RPlidar raw scan data. Please correct me if I'm wrong and Thank you very much for reply. Moreover If I move my RPlidar sometimes this error showup " searchDir angle change too large". Pls helpme

Mohan ( 2016-04-04 08:31:34 -0600 )edit

I think it'd be best to open a new question about this, Mohan. There, also post a screenshot of the "distorted" map; it will help with debugging. Finally, could you please mark my answer above as correct by clicking on the checkmark icon on the left? Thanks

spmaniato ( 2016-04-04 08:43:03 -0600 )edit

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answered 2016-06-07 00:34:46 -0600

gp
166 ●2 ●5

updated 2016-06-07 02:38:31 -0600

Hey mohan, scan rate for RPLIdar is very less to be suitable for hector slam. For modifications to RPLidar messages, have a look at this blog . Although it is about Gmapping and RPlidar, some modifications in RPLidar scan messages are suggested in the blog.

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WARN : No transform between frames /map and scanmatcher_frame available.

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WARN : No transform between frames /map and scanmatcher_frame available.