Hello,
I am currently trying to incorporate a HectorSLAM method with my PX4 autopilot. I am running everything in ROS1 using Noetic. I have the px4 autopilot setup correctly, and have been able to writing some simple path navigation using the built in rplidar drone model. Although, when trying to do SLAM, I am having this one issue.
Here is a snippet of the .launch file I have to publish the nodes…
arg name=“tf_map_scanmatch_transform_frame_name” default=“scanmatcher_frame”
arg name=“base_frame” default=“base_link”
arg name=“odom_frame” default=“base_link”
arg name=“pub_map_odom_transform” default=“true”
arg name=“scan_subscriber_queue_size” default=“5”
arg name=“scan_topic” default=“/laser/scan”
arg name=“map_size” default=“512”
And here is the error I am recieving…
[ INFO] [1698550262.433352377, 142.696000000]: lookupTransform base_link to rplidar_link timed out. Could not transform laser scan into base_frame.
Thanks