Using hector_slam with known map gives bad accuracy
Hello, I implemented the navigation stack on a omni-wheeled robot. When using hector_slam I was able to reach very good localization accuracy under 1 cm error. However, hector_slam builds a new map on every startup with origin and orientation depending on the robot location.
I need to get the location of the robot in a predefined coordinate system where one corner of the room is defined as point (0,0). So I assume I need to prerecord a map and align it with my wanted coordinate system and then locate the robot on this map. Unfortunately it is not possible to use hector_slam with a known map apparently.
Therefore I followed this Q&A to use hector as a odometry source for amcl localization. The amcl localization with 1-5 cm translation error seems much more inaccurate than the hector_slam localization.
Do you have ideas on how to improve the amcl accuracy or is there another option how I could use hector's accuracy to locate on a prerecorded map?
