Hi everyone,

I am using Hector-Slam and AMCL without IMU sensor. At the beginning (when I pressed to 2D estimate) all frames are working. But after I selected 2D Nav. goal just scanmatcherframe is moving, the other frames (scanmatchodom, baselink and laser) are moving away from map frame. Sometimes they act foolishly, so my movebase is missed up.

Hector-SLAM Frames:

<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="base_link"/>

<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />

AMCL:

<node pkg="amcl" type="amcl" name="amcl">
        <param name="tf_broadcast" value="true" />
        <param name="base_frame_id" value="/base_link" />
        <param name="global_frame_id" value="map" />
        <param name="odom_frame_id" value="scanmatch_odom" />
        <param name="use_map_topic" value="false" />

global_costmap:
  global_frame: /map
  robot_base_frame: base_link

local_costmap:

  global_frame: scanmatch_odom
  robot_base_frame: base_link

view_frames:

map -> scanmatcher_frame (/hector_mapping)
map -> scanmatch_odom (/amcl) -> base_link (/odomtransformer) -> laser (static- transform /link_to_laser_bc)

I have two subscriber from map frame. Please help me.