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I am using hokuyo (URG-04LX) + imu (3DM-GX3-25) and a mirror for height estimation to do 2D hector mappping and octomap to perform 3D mapping.all the frames transform are ok now . i know my hokuyo scan rate is not high enough,but this is the only laser scan i have. when i tested it around my lab, after turning the second corner map is not 90 degrees and become messy.i know that imu only provide pitch and roll data to hector mapping,now i am trying use imu data for yaw angle to help the hokuyo and hector map perform better,but do not know how.


Originally posted by elva on ROS Answers with karma: 1 on 2013-04-03

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You shouldn't need to do anything. Just publish everything and it should use it if possible. One thing with the mirror: You'll need to filter that part out before passing it into any 2D SLAM algorithm. If you want some help about the algorithm performance, you'll need to provide some concrete data.


Originally posted by dornhege with karma: 31395 on 2013-04-04

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