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Hello,

I'm trying to do slam with hector_mapping. I have setted up all the necessary steps. All the transforms have been made. But when I run the rviz it seems there is no transform between base_link and laser. But actually it is published with static transform publisher and I confirmed that with tf_monitor.

When I run tf_monitor for base_link and laser, under laser it says "NO PARENT". These brings to my mind if there is problem with hokuyo_node. When I look at it, it seems ok and frame_id is setted to laser.

I really get confused with that. Any helps appreciated.


Originally posted by cheour on ROS Answers with karma: 18 on 2013-04-28

Post score: 0


Original comments

Comment by Ben_S on 2013-04-29:
Can you post the commandline or parameters you are using for your static transform publisher? Also you could post your tf tree from rosrun tf view_frames.

Comment by rnunziata on 2013-10-28:
check out http://answers.ros.org/question/92026/static-latch-frames-not-shown-in-tf-frame-graph/ looks related.

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1 Answer 1

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when you run hector_slam without odom,your view_frame like this /map -> /base_link this is publish by hector-slam,then /base_link -> /laser publish by static-transform.and I don't really get your problem,could you provide detail?


Originally posted by bailiqun with karma: 16 on 2016-01-24

This answer was ACCEPTED on the original site

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