Revision history [back]

As mentioned in my answer here, there are two approaches available for scenarios where you do not have viable odometry data (which is the case for handheld mapping).

In case you want to try hector_mapping and you don't have a IMU, you can try these parameters:

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="laser_frame" />
<param name="odom_frame" value="laser_frame" />

with laser_frame being the frame you scan data has in it's header. Provided you hold the scanner steady (no roll and pitch motion, please ;) ) and the environment is largely rectangular, the system should work.

As mentioned in my answer here, there are two approaches available for scenarios where you do not have viable odometry data (which is the case for handheld mapping).

In case you want to try hector_mapping and you don't have a IMU, you can try these parameters:

<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="laser_frame" />
<param name="odom_frame" value="laser_frame" />

with laser_frame being the frame you your scan data has in it's header. Provided you hold the scanner steady (no roll and pitch motion, please ;) ) and the environment is largely rectangular, the system should work.