Hi to all,
I'm trying to build a map in RVIZ by using hector_slam and my SICK laser, but I'm having lots of problems.
What I would like to do is to move around the laser inside my room and build a map in real-time.
For this reason, I won't have a robot with odometry topic since I'll physically move the laser around the environment.
I've already read the hector_slam tutorial (http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot) and I think I should use tips at point (2), but I don't know in which launch file I have to insert this code.
The problem is that I don't know which launch file I should use and how to modify it in order to specify the correct frame to use.
For example, if I run **roslaunch hector_slam_launch mapping_box.launch**, I get this error:
[INFO] [1463570714.703498474]: lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.
Can you suggest me what kind of launch file I need to use and how I have to modify it, please?
I could not find any good tutorial on how to do this..
**EDIT**: I've already tried to understand the source code of **mapping_default.launch** but it comes with no comments or explanations inside and so I really can't understand what it does.
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