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 | 1 | initial version |
Hi Scott,
I'm working on a "how to setup your robot for hector_slam" tutorial right now, but in the end it should work out of the box if you have a robot set up for gmapping. Assuming your laser scan has the "scan" topic name and you have set the base_frame parameter correctly, it should work.
That being said, I haven't testet it with the Kinect yet, but I expect that it won't work too well because of the higher noise and much smaller FOV provided by the fake Kinect laser scans. hector_slam really works best with high update rate LIDARs.
| | 2 | No.2 Revision |
Hi Scott,
I'm working on a "how to setup your robot for hector_slam" tutorial right now, but in the end it should work out of the box if you have a robot set up for gmapping. Assuming your laser scan has the "scan" topic name and you have set the base_frame parameter correctly, it should work.
That being said, I haven't testet it with the Kinect yet, but I expect that it won't work too well because of the higher noise and much smaller FOV provided by the fake Kinect laser scans. hector_slam really works best with high update rate LIDARs.
/Update: I did some testing of hector_mapping with the Kinect and can confirm it doesn't work well. There is potential for improvement, but I unfortunately currently do not have spare time to do work in this direction at the moment.
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