Hector Slam : Saving and Loading a Map

So I know you can save a map to disk once your robot has mapped an area, but when you reload it, is it likely the robot will know where it is or do you need to set its pose?

The reason I ask is, when the hector slam gets confused, the whole map goes haywire, it basically loses its rotation etc.

Now I want to be able to map an area once. Then uses it over and over again.

Asked by burf2000 on 2017-02-07 09:26:40 UTC

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Answers

"is it likely the robot will know where it is or do you need to set its pose"

"It depends" is the answer in my experiance. AMCL for example can sometimes figure out where it is, but sometimes gets confused and I need to set pose in rviz.

"Now I want to be able to map an area once. Then uses it over and over again."

I use hector_mapping to generate and save a map once, and then I use map_server to reload it and navigate it with AMCL and move_base.

Asked by KevWal on 2023-07-27 16:54:15 UTC

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@burf2000 After a map is built, we also switch to using map_server. Extending an existing map using hector slam was discussed in question #q47496.

Asked by Mike Scheutzow on 2023-07-29 08:43:20 UTC