Re: [ros-users] tu-darmstadt-ros-pkg announcement

Stefan,

Nice work!

What does it take to convert the hector_slam demo to run with the
hokuyo_node?

I've cut/pasted my attempt to modify the mapping_box.launch file below,
which is the only one starting up Hokuyo, but no point cloud appears. I
suspect that one of the required initial transforms is not being
published. Can you help? Thanks

<launch>
  <group if="$(optenv REALROBOT 0)">
    <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node"
output="screen">
      <param name="min_ang" value=" -2.2689" />
      <param name="max_ang" value="  2.2689" />
    </node>
  </group>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"
output="screen">
    <param name="base_frame" value="base_stabilized" />
    <param name="odom_frame" value="nav"/>
    <param name="output_timing" value="false"/>

    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="scan_topic" value="scan"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="2048"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />

    <!--
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>
    -->
    </node>

    <param name="hector_mapping/pub_map_odom_transform" value="false"/>
    <node pkg="tf" type="static_transform_publisher"
name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>

<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />

</launch>