Hector_mapping results in tf transformation error

General
4

To fix:

  1. sudo gedit /opt/ros/kinetic/share/hector_mapping/launch/mapping_default.launch
  2. change default value of odom_frame from nav to odom
  3. make sure you have static tf transforms from /map to /laser_frame; something like…
<node pkg="tf" type="static_transform_publisher" name="map_to_odom" 
      args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
<node pkg="tf" type="static_transform_publisher" name="odom_to_basefootprint" 
      args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" 
      args="0.0 0.0 0.0 0 0 0.0 /base_footprint /base_link 40" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
      args="0.2245 0.0 0.2 0.0 0.0 0.0 /base_link /laser_frame 40" />
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