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Questions tagged [map-to-odom]

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Requested time 1715793246.327303171 but latest data is at time 1715793246.292159557, when looking up transform from frame [base_link] to frame [odom]

i have already created the map using hector slam of my room. Now I want to use that map for AMCL localization. As I don't have any odometry (IMU or wheel encoders) but now wants to use only the ...
Sashit Sharma's user avatar
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Slam toolbox map jumps on linear movements

I'm running slam toolbox on iron using the default settings and am having an issue with, what I believe, is the scan matching. My robot can rotate in place and generate a map of decent quality. When ...
Madgrizzle Maslow's user avatar
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slam_toolbox with IntelRealsense publishing empty /map topic

I will preface that I am fairly new to ROS. I have been trying to acheive SLAM with slam_toolbox using my IntelRealsense D455 depth camera in Ros2 Humble, but /map topic output is empty, which I ...
Luke Jansen's user avatar
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robot_localization transform from map to odom drifts

Hi, I am trying to set up robot_localization on an outdoor mobile robot that I am building from scratch. The vehicle is a four wheeled mobile robot and the onboard computer is a Raspberry Pi 3 with a ...
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[SOLVED] gmapping fails to build map

Hello everyone, I've been struggling on this one for a week now. I am using the husarion rosbot 2.0 on ros melodic and I'm trying to build a map while driving the robot around. I don't record a bag ...
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1 answer
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Fixing TF between base_link and odom

Hey , i am in the process of porting my robot from simulation to real world . Finished URDF (robot_description) , which publishes the tf Finished with the most essential stack such as robot_nav , ...
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15 views

Selecting map/odom frames for GPS/IMU

Hello forum, I am working on a project where I need to combine LIDAR scans and camera images from a drone. An INS mounted on the drone provides GPS and IMU information. I read REP 105 and tf tutorials ...
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tf tree problem with map->odom->base_link

Hi, I have a problem with providing the following relationship "map->odom->base_link" in my tf tree. My question is what changes are necessary to fix this problem. In the below ...
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1 answer
75 views

Using robot_localization with amcl

Hi all, I am starting to set up awesome robot_localization package and I am using rotary encoders (nav_msgs/Odometry, both pose and twist) and IMU (...
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1 answer
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Which is each frame?

I have a frame tree in which I have /odom and /map frames. My EKF publishes in /odom frame. My AMCL algorithm (I think) creates a transformation between /odom and /map frames. Gazebo gives me the ...
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map transform 90 degrees off when using amcl

Hello, I've been building a custom robot in gazebo. This robot has two laser scanners, one on each side facing outward (not forward). When running amcl, the laser scans are 90 degrees off of where ...
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What's the status of the "tf_delay" parameter in gmapping?

Hi, I am using ROS Groovy. I have been trying to make slam_gmapping future-date the map->odom transform. In my search I went to the repo listed on the wiki page and found this: https://github.com/...
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How to publish transform from odom to base_link?

I am running a p3at in a gazebo with ros plugins. I need to subscribe to the odometry pose and update broadcast the tf between odom and base_link.How do I do it? Should I define a "odom" ...
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Improving the map or odometry for slam_gmapping

Hello all, I am currently working on building a 2D map of lab and office environment. In the lab (approx 5m x 10m) I see really good results and great map created. However, when I extend this ...
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Are both Gmapping and amcl publishing Map to Odom TF?

I am writing a SLAM system myself. It is a seperate module not running under ROS. We have a tcp/ip node to send and receive msgs. We have successfully built the map. Now we are going to use our own ...
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