Ask Your Question

Revision history [back]

The velocities in the odometry messages from hector_mapping are always zero. You can try out the angular velocity from the IMU. For the linear velocity you can differentiate the position of the odometry from hector_mapping, integrate the linear acceleration from the IMU, and combine them through averaging or filtering.

My robot doesn't have an IMU, and I get the "SearchDIR angle change too large" message only when my robot is gone crazy so that the map is messed up. If you get the message often or from the beginning, I don't think augmenting your robot with an IMU will fix the issue.