How to use hector elevation mapping?

Hi all!

hectorelevationmapping advertises pointclouds and generates a local and/or global 2.5D elevation map.

I'm going to use this as a part of my project. I have the equipment that I need, Hokuyo UST 20LX and ASUS XtionPRO Live motion sensor (for point cloud). I managed to connect both equipments. However, how do I use the elevation mapping node?

In RVIZ, there can only be one Fixed Frame, either /baselink (if I want to use laser scan) or /cameralink (if I want to use the motion sensor). I can't set both simultaneously. This way, how am I going to put them together to use the elevation mapping?

Is there anything else I need to connect in order for RVIZ to do 2.5D map scanning?

Thanks for any help!

Asked by psprox96 on 2015-06-30 23:16:29 UTC

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Answers

Did you get "normal" hector_mapping running? I am not sure, but I think you need it. You can check out our launch files under https://github.com/ne0h/hmmwv/tree/master/ros_workspace/src/hmmwv/launch and adapt them to the topics your robot uses.

Asked by ne0h on 2015-11-12 10:27:00 UTC

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Thanks for your help! =)

Asked by psprox96 on 2015-11-13 01:09:44 UTC

@ne0h I am able to produce normal hector mapping. Now I need to do mapping on ramps for that I want to do elevation mapping of hector. How to proceed with that? Thanks in advance

Asked by rahul puram on 2020-09-09 01:28:12 UTC

@psprox96 Are you able to produce an elevator map using hector?

Asked by rahul puram on 2020-09-09 01:29:01 UTC