some problem about the hector exploration control
Hello everyone:
I am trying to use hector navigation stack on my wheeled robot , and the package I used is :
hector_costmap,
hectorexplorationnode,
hectorelevationmapping
hectorexplorationcontroller.
After running these package , I could see the path in the rviz , but My robot tends to just rotating along z-axis (perpendicular to the ground) almost all of the time. May I know what did I do wrongly?
edit:the turning speed is 0.4m/s the moving speed is 0.15m/s. The lidar I used is URG-04LX-UG01
Here is my hectormapping.launch(start the hectorslam):
<launch>
<node pkg="hectormapping" type="hectormapping" name="hector_mapping" output="screen">
<param name="pubmapodom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="baseframe" value="baselink" />
<param name="odomframe" value="baselink" />
<param name="baseframe" value="basestabilized" />
<param name="odomframe" value="basestabilized" />
<!-- Map size / start point -->
<param name="map_resolution" value="0.010"/>
<param name="map_size" value="2048"/>
<param name="mapstartx" value="0.5"/>
<param name="mapstarty" value="0.5" />
<param name="laserzmin_value" value="-2.5" />
<param name="laserzmax_value" value="7.5" />
<!-- Map update parameters -->
<param name="updatefactorfree" value="0.4"/>
<param name="updatefactoroccupied" value="0.7" />
<param name="mapupdatedistance_thresh" value="0.002"/>
<param name="mapupdateangle_thresh" value="0.006" />
</node>
<param name="lasermindist" value="0.02" />
<param name="lasermaxdist" value="5.6" />
<param name="mappubperiod" value="0.5" />
<node pkg="tf" type="statictransformpublisher" name="basetolaserbroadcaster" args="0 0 0 0 0 0 /baselink /laser 100" />
<node pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen">
<remap from="imu_topic" to="thumper_imu" />
<param name="base_stabilized_frame" type="string" value="base_stabilized" />
<param name="base_frame" type="string" value="base_footprint" />
</node>
</launch>
Can anybody help me?Thanks a lot
Asked by Anthony Brooks on 2015-04-01 04:23:02 UTC
Comments
I have the very same problem with Hector exploration package, it just rotates and nothing else! i hope someone can answer this. could u fix the problem?
Asked by sobot on 2015-05-04 18:28:36 UTC