[ros-users] [Discourse.ros.org] [General] Hector_mapping results in tf transformation error

[Nathan George]

To fix:

1. sudo gedit /opt/ros/kinetic/share/hector_mapping/launch/mapping_default.launch
2. change default value of `odom_frame` from `nav` to `odom`
3. make sure you have static tf transforms from /map to /laser_frame; something like...

  <!-- transforms from /map to /laser_frame -->
    <node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
          args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
    <node pkg="tf" type="static_transform_publisher" name="odom_to_basefootprint" 
          args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />
    <node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" 
          args="0.0 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" 
          args="0.2245 0.0 0.2 0.0 0.0 0.0 /base_link /laser_frame 40" />





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