No map data on 2d rplidar

[joyde3382]

Hey i have this issue when running the command

`roslaunch cartographer_ros backpack_2d.launch´

The process starts but gets stuck like in the picture below

I am fully able to run the deutsche museum demo, provided by Cartographer, but i can't get it to work with my own lidar (RPLidar a1).

Also the lidar is perfectly connected (i get data from /scan) and i am running hector SLAM just fine.
roscore and rviz are also both up and running beforehand.

Any suggestions to get it working with cartographer?

[carry4985]

I guess you need check the configuration file(.lua). you should set num_laser_scans = 1 and num_multi_echo_laser_scans = 0

[joyde3382]

@carry4985

Thanks for your reply, but I already did that, still same issue :/

here are my .lua and .launch files

backback_2d.lua: https://pastebin.com/FXA4Du0D
backback_2d.launch: https://pastebin.com/trzJDZ7Z

and this is my rqt_graph:

[carry4985]

I set the base_frame is laser and the topic is 'scan'. Attached to the file I have changed. At 2019-03-21 16:47:49, "joyde3382" <[email protected]> wrote: I guess you need check the configuration file(.lua). you should set num_laser_scans = 1 and num_multi_echo_laser_scans = 0 Thanks for your reply, but I already did that, still same issue :/ here are my .lua and .launch files backback_2d.lua: https://pastebin.com/FXA4Du0D backback_2d.launch: https://pastebin.com/trzJDZ7Z — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.

[joyde3382]

@carry4985, not quite sure what you're getting at. I managed to link the lidar node with the cartographer node
by replacing the following lines:

tracking_frame = "base_link",
published_frame = "base_link",

with

tracking_frame = "rplidarNode",
published_frame = "rplidarNode",

However i am still stuck at the same place..

[jgaud]

@joyde3382 Did you figure out how to set it up?
I am running into the same issue.

Thanks.