'Hello all,
I am using Xbox360, Ros Kinetic, Ubuntu 16.04LTS
I am new to ROS. I want to map an unknown enviroment using kinect. For this I am using freenect and gmapping.
I have done these steps:
1. roslaunch freenect_launch freenect.launch
2. rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/camera/depth/points
3. rosbag record -O mybag /scan
4. rostopic echo /scan /////////i can see scan data is available here
5. rqt_graph
here is my [MY RQT_GRAPH](https://drive.google.com/open?id=1P10v22SWJYPIo_2HziGoaON2TSl-oPYk) and here is [MY FRAMES.PDF](https://drive.google.com/open?id=1wubudBvtFN2D0_AEz6lsZAdQK5L8GlLA)
This is all great.
But the problem is getting data from the bag file
1. roscore
2. rosparam set use_sim_time true
3. roslaunch hector_slam_launch tutorial.launch scan:=/base_scan
4. rosbag play --clock mybag.bag
5. rqt_graph
here is my [MY RQT_GRAPH](https://drive.google.com/open?id=1kipWQA95MoOC9qUFm06J336YTk2kBlQa) and here is [MY FRAMES.PDF](https://drive.google.com/open?id=1XqM7RxhbN8QMM6QS84NU7Nu2MqCFDoPv)
I can't see any error in RViz. But I can't see the map either.
The terminal where I launch hector_slam shows the error that
[ WARN] [1515990267.492285826]: No transform between frames /map and scanmatcher_frame available after 20.002855 seconds of waiting. This warning only prints once.
[ INFO] [1515990270.173023564]: lookupTransform base_footprint to camera_depth_optical_frame timed out. Could not transform laser scan into base_frame.
5. rostopic pub syscommand std_msgs/String "savegeotiff"
but the terminal in which tutorial.launch is running stated that
[ INFO] [1515995399.174200553]: HectorSM sysMsgCallback, msg contents: savegeotiff
[ INFO] [1515995399.174327483]: HectorSM Map service called
[ INFO] [1515995399.194847114]: GeotiffNode: Map service called successfully
[ INFO] [1515995399.222169236]: Cannot determine map extends!
[ INFO] [1515995399.222222911]: Couldn't set map transform
I HAVE ALSO RUN `rosrun tf view_frames` AND I NOTICED THAT `world` IS NOT CONNECTED TO `base_frame`
can anyone help me with this
please do post a comment if any other specifications required.
Thank you in advance.....
↧