I want to use cartographer_ros with one hokuyo laser about cartographer_ros HOT 10 CLOSED

You can certainly map without any additional hardware. Keep in mind that without an IMU you'll need to keep your LIDAR as level with the ground plane as possible.

It looks like you have an issue with your frames. You need to set tracking_frame and published_frame to "laser_link".

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@damonkohler
Thank you very much.

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I assume that resolved your issue? If not, please reopen.

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@damonkohler
Yes, this problem has been solved. thank you very much.

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@damonkohler
hi, I can't make the good result using my rosbag.I was doing the test in a rectangular room(No mirrors). I did not use the IMU.But the map is not perfect.There are a lot of redundant laser beams around the map.Is it because I did not use the IMU ?
The picture is here:

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This looks like a different issue. From the screen shots, it seems you have the missing_echo_ray_length set too large for your sensor. It's not getting returns and inserting empty space. Try setting it to 0.5 or so.

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@carl1218 Which Lidar model are you using? That may help people suggest better parameters for you.

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@josephduchesne
I used hokuyo urg 04lx

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If you want more help in debugging you have to post your full configuration and a bag with data somewhere so others can reproduce.

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@damonkohler
Thank you ery much.this problem has been solved.

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