Problems using cartographer with horizontal 2d lidar and no imu

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h1337

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Nov 10, 2017, 4:00:27 AM11/10/17
to google-cartographer
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.



test_2d.urdf
test_2d.launch
test_2d.lua

Holger Rapp

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Nov 10, 2017, 9:37:56 AM11/10/17
to h1337, google-cartographer
I did not look at your files, but your setup sounds very much like this setup:


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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