I am trying to use hector_mapping so I can get odom data just from my LiDAR to make a map of and navigate around my house. However, I'm getting intermittent errors with the base_footprint and base_link frames on Rviz (it says for a split second that they don't have transforms into map). Also, my TF axis thing teleports all over the place, and in the terminal, I get the following errors:
[ERROR] [1711113360.849915980]: Transform failed during publishing of map_odom transform: "odom" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1711113361.354725490]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation at time 1711113360.346836090, but only time 1711113360.098104954 is in the buffe, when looking up transform from frame [base_link] to frame [odom]
[ERROR] [1711113361.860285724]: Transform failed during publishing of map_odom transform: Lookup would require extrapolation 0.132860000s into the future. Requested time 1711113360.479696035 but the latest data is at time 1711113360.346836090, when looking up transform from frame [base_link] to frame [odom]
SearchDir angle change too large
Here is some more information: lidar_gmapping.launch (the file I launch with roslaunch):
<launch>
<!-- Launch SLAM GMapping -->
<include file="$(find lidar)/launch/slam_gmapping_pr2.launch" />
<!-- Launch LiDAR driver -->
<include file="$(find lidar)/launch/X4.launch" />
<!-- Launch RViz with the desired configuration -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find lidar)/launch/mapping.rviz" />
</launch>
slam_gmapping_pr2.launch:
<launch>
<param name="use_sim_time" value="false"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="odom" />
<param name="map_update_interval" value="0.5"/>
<param name="maxUrange" value="8.0"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="0"/>
<param name="minimumScore" value="100"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="1.0"/>
<param name="angularUpdate" value="0.2"/>
<param name="temporalUpdate" value="0.5"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="100"/>
<param name="xmin" value="-10.0"/>
<param name="ymin" value="-10.0"/>
<param name="xmax" value="10.0"/>
<param name="ymax" value="10.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>
<remap from="scan" to="scan"/>
<remap from="poseupdate" to="poseupdate"/>
</node>
<node pkg="map_server" type="map_server" name="map_server" args="$(find lidar)/launch/map.yaml"/>
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link"
args="0.0 0.0 0.0 0 0 0 /base_footprint /base_link 40" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser_frame"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser_frame 40" />
<node pkg="tf" type="static_transform_publisher" name="laser_frame_to_map"
args="0.0 0.0 0.0 0.0 0.0 0.0 /laser_frame /map 40" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_map"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /map 40" />
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_map"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_footprint /map 40" />
</launch>
map.yaml:
image: ./map.pgm
resolution: 0.050000
origin: [-10.0, -10.0, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
X4.launch:
<launch>
<node name="ydlidar_lidar_publisher" pkg="ydlidar_ros_driver" type="ydlidar_ros_driver_node" output="screen" respawn="false" >
<!-- string property -->
<param name="port" type="string" value="/dev/ydlidar"/>
<param name="frame_id" type="string" value="laser_frame"/>
<param name="ignore_array" type="string" value=""/>
<!-- int property -->
<param name="baudrate" type="int" value="128000"/>
<!-- 0:TYPE_TOF, 1:TYPE_TRIANGLE, 2:TYPE_TOF_NET -->
<param name="lidar_type" type="int" value="1"/>
<!-- 0:YDLIDAR_TYPE_SERIAL, 1:YDLIDAR_TYPE_TCP -->
<param name="device_type" type="int" value="0"/>
<param name="sample_rate" type="int" value="5"/>
<param name="abnormal_check_count" type="int" value="4"/>
<!-- bool property -->
<param name="resolution_fixed" type="bool" value="true"/>
<param name="auto_reconnect" type="bool" value="true"/>
<param name="reversion" type="bool" value="false"/>
<param name="inverted" type="bool" value="true"/>
<param name="isSingleChannel" type="bool" value="false"/>
<param name="intensity" type="bool" value="false"/>
<param name="support_motor_dtr" type="bool" value="true"/>
<param name="invalid_range_is_inf" type="bool" value="false"/>
<param name="point_cloud_preservative" type="bool" value="false"/>
<!-- float property -->
<param name="angle_min" type="double" value="-180" />
<param name="angle_max" type="double" value="180" />
<param name="range_min" type="double" value="0.1" />
<param name="range_max" type="double" value="12.0" />
<!-- frequency is invalid, External PWM control speed -->
<param name="frequency" type="double" value="10.0"/>
</node>
</launch>
mapping.rviz (though I don't think this one matters too much):
Panels:
- Class: rviz/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 454
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
laser_frame:
Value: true
map:
Value: true
odom:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
base_footprint:
laser_frame:
{}
map:
odom:
{}
base_footprint:
map:
{}
laser_frame:
map:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/MoveCamera
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 14.28176212310791
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.6503981351852417
Target Frame: <Fixed Frame>
Yaw: 1.3453978300094604
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 678
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000100000000000001560000024afc0200000001fb000000100044006900730070006c006100790073010000003e0000024a000000ca00ffffff000002c30000024a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Width: 1055
X: 50
Y: 50
Also, my TF tree varies between this: [![TF tree 1][1]][1]
this: [![TF tree 2][2]][2]
and this: [![TF tree 3][3]][3]
Can anyone please tell me what's wrong with my setup? [1]: https://i.sstatic.net/7eNCa.png [2]: https://i.sstatic.net/H9ehV.png [3]: https://i.sstatic.net/AqhXz.png
