Hello, I have just upgraded the version of px4 and done a lot of modification for XTDrone, but some demos are still waiting to be modified. I will complete the modification in several days.

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Hello, the manual is OK now. You can test it.

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hello, it's a bug and I have solved it.
<frameName>laser_2d</frameName> in XTDrone/sitl_config/models/hokuyo_lidar/model.sdf,
previously, it's laser.

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odom and map is connected by gmapping， not by laser scan matcher

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Hello, I have just upgraded the version of px4 and done a lot of modification for XTDrone, but some demos are still waiting to be modified. I will complete the modification in several days.

Thank you so much for your very fast response. I am looking forward to testing a modified version. I am going to test other tutorials.

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Hello, the manual is OK now. You can test it.

Hello! Thank you for your update. Unfortunately, I have already tested the newest and still got errors as follows

Firstly, I run "roslaunch px4 indoor3.launch", after that I got many warning messages as
"Warning [parser.cc:950] XML Element[friction], child of element[collision] not defined in SDF. Ignoring[friction]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element." However, the gazebo simulation looks fine, nothing different from the tutorial

Secondly, I run "roslaunch laser_scan_matcher matcher.launch" in another terminal, I got error messages
"[ WARN] [1590852379.820397259, 179.096000000]: Could not get initial transform from base to laser frame, "iris_0/laser" passed to lookupTransform argument source_frame does not exist.
"

Next, check rqt tf tree and rqt graph, I got something different from the tutorial.

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hello, it's a bug and I have solved it.
<frameName>laser_2d</frameName> in XTDrone/sitl_config/models/hokuyo_lidar/model.sdf,
previously, it's laser.

Hello, iris_0/laser_2d is OK for now, next is "No transform from [map] to frame [odom]" and "No transform from [map_ned] to frame [odom]"

After "roslaunch laser_scan_matcher matcher_gmapping.launch" I got error as:

SUMMARY

PARAMETERS

• /laser_scan_matcher_node/base_frame: iris_0/base_link
• /laser_scan_matcher_node/fixed_frame: odom
• /laser_scan_matcher_node/max_iterations: 10
• /laser_scan_matcher_node/use_imu: False
• /laser_scan_matcher_node/use_odom: False
• /rosdistro: kinetic
• /rosversion: 1.12.14
• /slam_gmapping/angularUpdate: 0.5
• /slam_gmapping/astep: 0.15
• /slam_gmapping/base_frame: iris_0/base_link
• /slam_gmapping/delta: 0.02
• /slam_gmapping/iterations: 1
• /slam_gmapping/kernelSize: 1
• /slam_gmapping/lasamplerange: 0.05
• /slam_gmapping/lasamplestep: 0.05
• /slam_gmapping/linearUpdate: 1.0
• /slam_gmapping/llsamplerange: 0.01
• /slam_gmapping/llsamplestep: 0.05
• /slam_gmapping/lsigma: 0.1
• /slam_gmapping/lskip: 1
• /slam_gmapping/lstep: 0.15
• /slam_gmapping/map_udpate_interval: 1.0
• /slam_gmapping/maxUrange: 5.0
• /slam_gmapping/ogain: 3.0
• /slam_gmapping/particles: 10
• /slam_gmapping/resampleThreshold: 0.5
• /slam_gmapping/sigma: 0.1
• /slam_gmapping/srr: 0.1
• /slam_gmapping/srt: 0.2
• /slam_gmapping/str: 0.1
• /slam_gmapping/stt: 0.2
• /slam_gmapping/temporalUpdate: 0.4
• /slam_gmapping/xmax: 5.0
• /slam_gmapping/xmin: -5.0
• /slam_gmapping/ymax: 5.0
• /slam_gmapping/ymin: -5.0
• /use_sim_time: True

NODES
/
laser_scan_matcher_node (laser_scan_matcher/laser_scan_matcher_node)
rviz (rviz/rviz)
slam_gmapping (gmapping/slam_gmapping)

ROS_MASTER_URI=http://localhost:11311

process[rviz-1]: started with pid [8207]
process[laser_scan_matcher_node-2]: started with pid [8208]
ERROR: cannot launch node of type [gmapping/slam_gmapping]: gmapping
[ INFO] [1590896175.041331942]: Starting LaserScanMatcher
[ WARN] [1590896176.260677314, 1062.132000000]: Could not get initial transform from base to laser frame, Lookup would require extrapolation into the past. Requested time 1061.124000000 but the earliest data is at time 1061.168000000, when looking up transform from frame [iris_0/laser_2d] to frame [iris_0/base_link]
[ WARN] [1590896176.260739079, 1062.132000000]: Skipping scan

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Hi, Now it works fine after installed "sudo apt-get install ros-kinetic-slam-gmapping". It's my fault. Thank you !

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ok

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嗨，现在，在安装“ sudo apt-get install ros-kinetic-slam-gmapping”后，它可以正常工作。我的错。谢谢 ！

hello！I am very happy seeing your comments and result.i have a same print
however,i want to ask you for help
class TF in rviz ,have many warning......though map and others are ok
additionally,after output "python laser_transfer.py iris 0 2d",the px4 can print :
INFO [ecl/EKF] 19804000: reset position to ev position
INFO [ecl/EKF] 19804000: commencing external vision position fusion
INFO [ecl/EKF] 19804000: commencing external vision yaw fusion
?

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@zhulei991113 Hi, after script "python laser_transfer.py iris 0 2d" is executed then the external position from ROS will be sent to px4 state estimation (EKF2). The INFO is telling us that PX4 is received the external position (using vision pipeline). Some of TF there is no link between each other (such as base_link_frd and map). However, it is fine because the important frames are linked together.

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