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I´m not 100% sure it works out of the box (and I definitely have not time to test it), but by using hector_mapping and a launch file setup similar to this one, it should be possible to perform mapping with known poses. This launch file was used to map a 1.7m-2.1m height slice of an environment. The most important parts are the "map_with_known_poses" and "use_tf_pose_start_estimate" parameters, which both have to be set to "true".
| | 2 | No.2 Revision |
I´m not 100% sure it works out of the box (and I definitely have not time to test it), but by using hector_mapping and a launch file setup similar to this one, it should be possible to perform mapping with known poses. This The example launch file was used to map a 1.7m-2.1m height slice of an environment. The most important parts are the "map_with_known_poses" and "use_tf_pose_start_estimate" parameters, which both have to be set to "true".
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