LRF + hector_slam rviz上のエラーに関して

[tanaka]

こんにちは、田中と申します。

URG + hector_slamで地図を作成したいのですが、
rviz上にエラーが出てしまい、行き詰っています。
どなたかアドバイスいただければ幸いです。

http://researchmap.jp/joh5bkprt-2001408/
上記のサイトに書かれている順に、コマンドを実行しましたが、
添付画像のように、rviz上にエラーが２つ出ました。

1つ目は、LaserScanのStatus:Error内にあるTransformに、
「For frame [laser]:Fixed Frame [map] does not exit」と出ています。

2つ目は、Global StatusがWarnと表記になっており、Fixed Frameに、
「No tf data.Actual error:Fixed Frame [map] does not exist」と出ています。

使用環境は以下の通りです。
OS: ubuntu14.04
バージョン: indigo
LRF: UTM-30X

ログは以下の通りです。
~/catkin_ws/src/hector-slam-example/launch$ roslaunch hector_hokuyo.launch
... logging to /home/tanaka/.ros/log/d507a8d6-96f2-11e6-89b5-fcf8ae0bcc05/roslaunch-tanaka-Endeavor-NJ5900E-11009.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://127.0.0.1:49774/

SUMMARY
========

PARAMETERS
 * /base_frame: base_frame
 * /hector_geotiff_node/draw_background_checkerboard: True
 * /hector_geotiff_node/draw_free_space_grid: True
 * /hector_geotiff_node/geotiff_save_period: 0.0
 * /hector_geotiff_node/map_file_base_name: hector_slam_map
 * /hector_geotiff_node/map_file_path: /opt/ros/indigo/s...
 * /hector_geotiff_node/plugins: hector_geotiff_pl...
 * /hector_mapping/advertise_map_service: True
 * /hector_mapping/base_frame: base_footprint
 * /hector_mapping/laser_z_max_value: 1.0
 * /hector_mapping/laser_z_min_value: -1.0
 * /hector_mapping/map_frame: map
 * /hector_mapping/map_multi_res_levels: 2
 * /hector_mapping/map_resolution: 0.05
 * /hector_mapping/map_size: 2048
 * /hector_mapping/map_start_x: 0.5
 * /hector_mapping/map_start_y: 0.5
 * /hector_mapping/map_update_angle_thresh: 0.06
 * /hector_mapping/map_update_distance_thresh: 0.4
 * /hector_mapping/odom_frame: nav
 * /hector_mapping/pub_map_odom_transform: True
 * /hector_mapping/scan_subscriber_queue_size: 5
 * /hector_mapping/scan_topic: scan
 * /hector_mapping/tf_map_scanmatch_transform_frame_name: scanmatcher_frame
 * /hector_mapping/update_factor_free: 0.4
 * /hector_mapping/update_factor_occupied: 0.9
 * /hector_mapping/use_tf_pose_start_estimate: False
 * /hector_mapping/use_tf_scan_transformation: True
 * /hector_trajectory_server/source_frame_name: /base_link
 * /hector_trajectory_server/target_frame_name: /map
 * /hector_trajectory_server/trajectory_publish_rate: 0.25
 * /hector_trajectory_server/trajectory_update_rate: 4.0
 * /map_frame: map
 * /odom_frame: odom
 * /pub_map_odom_transform: True
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /
    base_2_nav_link (tf/static_transform_publisher)
    base_footprint_2_base_link (tf/static_transform_publisher)
    base_frame_2_laser_link (tf/static_transform_publisher)
    base_link_2_base_stabilized_link (tf/static_transform_publisher)
    base_stablized_2_base_frame (tf/static_transform_publisher)
    hector_geotiff_node (hector_geotiff/geotiff_node)
    hector_mapping (hector_mapping/hector_mapping)
    hector_trajectory_server (hector_trajectory_server/hector_trajectory_server)
    hokuyo_node (hokuyo_node/hokuyo_node)
    map_2_odom (tf/static_transform_publisher)
    odom_2_base_footprint (tf/static_transform_publisher)
    rviz (rviz/rviz)

ROS_MASTER_URI=http://127.0.0.1:11311

core service [/rosout] found
process[hokuyo_node-1]: started with pid [11027]
process[map_2_odom-2]: started with pid [11028]
process[odom_2_base_footprint-3]: started with pid [11029]
process[base_footprint_2_base_link-4]: started with pid [11041]
process[base_link_2_base_stabilized_link-5]: started with pid [11051]
process[base_stablized_2_base_frame-6]: started with pid [11058]
process[base_frame_2_laser_link-7]: started with pid [11073]
process[base_2_nav_link-8]: started with pid [11087]
process[rviz-9]: started with pid [11100]
process[hector_mapping-10]: started with pid [11113]
process[hector_trajectory_server-11]: started with pid [11135]
process[hector_geotiff_node-12]: started with pid [11142]
[ INFO] [1477551836.679370193]: Waiting for tf transform data between frames /map and /base_link to become available
HectorSM map lvl 0: cellLength: 0.05 res x:2048 res y: 2048
HectorSM map lvl 1: cellLength: 0.1 res x:1024 res y: 1024
[ INFO] [1477551836.738564037]: HectorSM p_base_frame_: base_footprint
[ INFO] [1477551836.738638293]: HectorSM p_map_frame_: map
[ INFO] [1477551836.738663259]: HectorSM p_odom_frame_: nav
[ INFO] [1477551836.738688734]: HectorSM p_scan_topic_: scan
[ INFO] [1477551836.738715540]: HectorSM p_use_tf_scan_transformation_: true
[ INFO] [1477551836.738743303]: HectorSM p_pub_map_odom_transform_: true
[ INFO] [1477551836.738780060]: HectorSM p_scan_subscriber_queue_size_: 5
[ INFO] [1477551836.738808260]: HectorSM p_map_pub_period_: 2.000000
[ INFO] [1477551836.738833718]: HectorSM p_update_factor_free_: 0.400000
[ INFO] [1477551836.738858272]: HectorSM p_update_factor_occupied_: 0.900000
[ INFO] [1477551836.738882714]: HectorSM p_map_update_distance_threshold_: 0.400000
[ INFO] [1477551836.738907848]: HectorSM p_map_update_angle_threshold_: 0.060000
[ INFO] [1477551836.738932192]: HectorSM p_laser_z_min_value_: -1.000000
[ INFO] [1477551836.738956542]: HectorSM p_laser_z_max_value_: 1.000000
[ INFO] [1477551836.756671736]: Successfully initialized hector_geotiff MapWriter plugin TrajectoryMapWriter.
[ INFO] [1477551836.756946445]: Geotiff node started



アドバイスよろしくお願いいたします。

[tanaka]

-----------------------------------------------------------
追記
sudo apt-get install ros-indigo-tf
上記のtfパッケージもインストールしましたが、状況は変わりません。

また、rqt_graphの画像を添付しましたので、参考にしてください。
-----------------------------------------------------------------------------------------

[tanaka]

解決しましたので、ご報告します。

以下のように、TFで定義するセンサの座標系に変更する必要があったようです。
$ rosparam set hokuyo_node/frame_id "map"

同じ悩みをお持ちの方は、参考にしてください。