mapping_default.launch - uenota/f550_launch_odroid GitHub Wiki
About Launch File
The original launch file can be found here.
TF Frame
The following tutorial will help to modify launch file.
In this case, odom_frame and base_frame should be the same like the following because our platform does not provide odometry.
<param name="base_frame" value="fcu" />
<param name="odom_frame" value="fcu" />
"use_tf_pose_start_estimate"
The parameter is not documented here.
The error like the following will be thrown by this code when use_tf_pose_start_estimate parameter is set to true.
Transform from map to fcu failed
Setting the parameter to false will solve this error.
The following answer helps to understand this parameter.
The (undocumented) "map_with_known_poses" parameter can be used together with the "use_tf_pose_start_estimate" parameter set to true to perform mapping with known poses. That is, there is no localization performed, instead a map is created based on the provided tf data. So that´s probably not what you want.
https://answers.ros.org/question/185496/modify-position-in-hector_mapping-code/
"use_tf_scan_transformation"
There are also undocumented paramter named use_tf_scan_transformation.
That parameter is undocumented for a reason ;) and basically only meant for debugging. If set to false, the LIDAR scan is not transformed using tf and just used as is for mapping (should work if it is parallel to the ground plane all the time and fail quickly if it experiences roll/pitch motion).
https://answers.ros.org/question/48778/hector-slamsick-use_tf_scan_transformation-true-or-false/