Hi Tim,
This is the launch file we use on our handheld mapping system. It
starts the Hokuyo node only if the REALROBOT environment variable is
set.
You might want to have a look at 'mapping_default' launch file in the
'hector_mapping' package. This launches just the mapping node and
nothing else.
There's only 2 things important about the source of laser scans (be it
a Hokuyo LIDAR, log files or anything else):
-It has to publish on the "scan" topic (or this has to be remapped).
-There has to be a transformation between the scan's frame_id and the
base_frame.
The perhaps most simple solution is to the the base_frame to be the
same as the laser scanner frame_id. I'm currently working on a short
"How to use hector_mapping on your own platform" tutorial, but that
might take a few days due to other commitments.
regards,
Stefan
2011/9/28 Tim Coddington <
tim.coddington@rteamworks.com>:
> 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>
>
>
>
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