Autonomous navigation using navigation stack and hector slam

edit

Hello,

I am trying to perform autonomous navigation using hector slam and the navigation stack, something similar to this ( www.youtube.com/watch?v=5V-0Y43i0h8 ) or ( www.youtube.com/watch?v=RPaa8ZsO0rk ) .

I have already seen this post ( answers.ros.org/question/59153/how-to-extract-information-from-hector-slam-for-autonomous-navigation/ ) but instead of working with a pre stored map I want the map to be generated using hector_mapping and simultaneously I am able to perform navigation, that to without using the robot's odometry.

I got hector slam working with hokuyo laser and was able to do mapping using just the laser.

So my doubts are:

1. Is it possible to do this without using the robot's odometry and just using the odometry information from the tf that is being published by hector_mapping ( answers.ros.org/question/62081/using-odometry-from-hector_mapping-for-move_base-nav-stack/ ) ?

2. Does AMCL works only with static maps i.e. can AMCL perform localization on the maps being generated in real time ?

3. Moreover do I need AMCL to perform localization in a dynamic map being generated using hector slam ? If, not then how exactly should I make this work without amcl.

I will be happy to provide any relevant info that may be required and I'm sorry for not publishing actual links as my karma is not enough.

Thank you for your time..