creating the map with only Lidar

[amjack0]

I am using, ROS Noetic + 20.04 Lidar hardware: rplidar_a3m1

I installed this package via sudo apt install ros-noetic-slam-toolboxand it is working fine. I want to create an indoor map using slam_toolbox with lidar ONLY. I do not have wheel odometry and it's tf.

First I do,

• roslaunch rplidar_ros rplidar_a3.launch This starts publishing on the /scan topic.
• roslaunch slam_toolbox online_sync.launch I launch the slam_toolbox with default config.

Initially, I encounter that map did not grow after its initialization #438

Then, I provided a dynamic frame as per Broadcasting a moving frame.

But I see my map is not generated correctly. It is moving in a circle (which I guess due to the dynamic tf I provided). The circle get smaller if I reduce the amplitude. I do not know what is the correct way of providing the dynamic tf between frames.

And this is how my tf tree looks like when running, rosrun tf2_tools view_frames.py

frames.pdf

[SteveMacenski]

Please ask on ROS Answers, that's a problem with whatever mechanism you're providing the TF with, which is not part of this package (or described here).