Hi, I have a LiDAR, publishing sensor_msgs/LaserScan data on the /scan topic, no odometer or IMU. The LiDAR orientation is fixed and parallel to the ground. I have no idea about how to use frames in hector slam. After seeing a few posts, I came to know that there are the following frames: laser_link, base_link, base_stabilized, base_footprint, odom, nav, map. The static transform in the tutorial.launch file didn't work, so I wrote a separate publisher to publish null transforms between the frames, RViz shows no error, and some white squares, but no map. Can someone please post a detailed end to end process of implementing Hector_Slam once we have a functional /scan topic? Note that just a lidar is used.
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