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Hello,

I've got hector slam working with my hokuyo laser range finder. Now, I'm trying to use the information it uses to generate a map so that I can use it for navigating an aerial robot. Can someone please help me or direct me somewhere that will help me use hector slam for autonomous navigation?

Thanks!


Originally posted by hesh8 on ROS Answers with karma: 61 on 2013-03-25

Post score: 1

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2 Answers 2

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hector_slam outputs a standard nav_msgs/OccupancyGrid message. Being "the" standard for 2D map representation, this message type is used by a lot of packages providing different functionality:

Note this list is not exhaustive but just a few examples off the top of my head.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2013-03-28

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by MhAyman on 2016-07-30:
That really helps!

Comment by robotable on 2016-12-20:
This is helpful however more info on how to integrate hector slam odom info into move base, would be greatly appreciated! What are the launch files that need to be changed when pulling odometry info from hector into move base? in this case we are not using AMCL at all correct?

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The hector_mapping node publishes a map topic which can be subscribed to, or saved for later use using map_server.


Originally posted by Dan Lazewatsky with karma: 9115 on 2013-03-25

This answer was NOT ACCEPTED on the original site

Post score: 1

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