Problems using cartographer with horizontal 2d lidar and no imu

[h1337]

I'm trying to build a 2d map with cartographer using a Pepperl and Fuchs R2000 lidar. I must be making some mistakes in the configuration though. In rviz I get errors about no map transform being published.

I've attached my configuration file, launch file, and urdf.

Any help would be highly appreciated.

[Holger Rapp]

I did not look at your files, but your setup sounds very much like this setup:

https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/configuration_files/revo_lds.lua

Try starting from this config? And if you run into trouble, please open an issue on cartographer_ros and answer all the questions in the issue template.

Cheers,

Holger

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