Hello,
I am running hector_mapping and hector_exploration_node after roslaunching my robot in gazebo and today I noticed that the tf tree changes from time to time:
I also ran `roswtf` and I got the following issues, which I don't know if they are indirectly relevant to the tf trees above:
Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:
No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
ERROR: connection refused to [http://legged-HP-ProBook-450-G2:44318/]
... done running graph rules
running tf checks, this will take a second...
... tf checks complete
Online checks summary:
Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
WARNING The following node subscriptions are unconnected:
* /hector_mapping:
* /syscommand
* /gazebo:
* /gazebo/set_model_state
* /gazebo/set_link_state
* /labrob/cmd_vel
WARNING These nodes have died:
* labrob_spawn-3
Found 3 error(s).
ERROR Could not contact the following nodes:
* /rviz_1472030068686009566
ERROR The following nodes should be connected but aren't:
* /gazebo->/rviz_1472030068686009566 (/tf)
* /hector_exploration_node->/hector_exploration_node (/hector_exploration_node/global_costmap/footprint)
* /hector_mapping->/rviz_1472030068686009566 (/tf)
* /robot_state_publisher->/rviz_1472030068686009566 (/tf_static)
* /rviz_1472030068686009566->/hector_mapping (/initialpose)
* /tf_broadcaster_node->/rviz_1472030068686009566 (/tf)
* /robot_state_publisher->/rviz_1472030068686009566 (/tf)
* /gazebo->/rviz_1472030068686009566 (/clock)
ERROR Errors connecting to the following services:
* service [/rviz_1472030068686009566/get_loggers] appears to be malfunctioning: Unable to communicate with service [/rviz_1472030068686009566/get_loggers], address [rosrpc://legged-HP-ProBook-450-G2:59065]
* service [/rviz_1472030068686009566/set_logger_level] appears to be malfunctioning: Unable to communicate with service [/rviz_1472030068686009566/set_logger_level], address [rosrpc://legged-HP-ProBook-450-G2:59065]
I have the following launch file for my hector_mapping node:
↧