load map in hector slam

is there any way to load a saved map in hector slam and locate init position? similar question on ros answers is 3 year ago, and I want to know is there any progress.

this feature may need loop closure, which hector slam didn't support for now. so I don't know how to do next

any help?

by the way , does gmapping support load map and find init position?

Asked by panda on 2016-06-06 02:18:37 UTC

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Answers

This is a robot localization problem. You can use AMCL package for this purpose. AMCL.

Asked by gp on 2016-06-06 02:33:59 UTC

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thanks, so I should build the map with hectorslam, and put the map into AMCL for localization, right?

Asked by panda on 2016-06-06 21:00:35 UTC

yes. Actually map can be generated using any of the SLAM algorithms or even manually generated in any image editor and fed to localization as png, jpeg or pgm files. Thisbook has a chapter "Chapter 9 Building Maps of the World" on this topic.

Asked by gp on 2016-06-07 00:22:51 UTC