slamtoolbox.md 1.37 KiB
STATIC TRANSFORMATIONS
A static transformations is needed so that RViz knows the relation between the robots's frame and the LiDAR sensor's frame. It states the translation and rotation between the two.
terminal 1:
ros2 run tf2_ros static_transform_publisher "0" "0" "0" "0" "0" "0" "map" "scan"
terminal 2:
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link
terminal 3:
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link laser
terminal 4:
ros2 launch rf2o_laser_odometry rf2o_laser_odometry.launch.py
PYTHON LAUNCH METHOD
terminal 5:
ros2 run slam_toolbox sync_slam_toolbox_node \
in command line after add:
--ros-args -p odom_frame:=odom --ros-args -p base_frame:=base_link --ros-args -p map_frame:=map --ros-args -p scan_topic:=/scan --ros-args -p map_update_interval:=1.0 --ros-args -p max_laser_range:=5.0 --ros-args -p minimum_travel_distance:=0.1 --ros-args -p use_scan_matching:=true --ros-args -p minimum_travel_heading:=1.57 --ros-args -p do_loop_closing:=true
RVIZ
add Map by topic /map
change fixed frame --> /map
then map is fixed and lidar can move with out the frame moving