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Finaly fixed it :)

My understanding of ROS is still limited yet i was able to get it to work(one issue though). So it turns out that the code provided at link. is a bit dated, so :

  • The openni_node has been deprecated, so the first line of Launch file 1 has to be changed.
  • The TFs need to be changed as the TFs are not connected in the code provided. I probably have more TFs that i need.

I am using this setup, to perform 2d slam using a hand held systems with no picth and roll along at a fixed height.

Find my launch files at:

I have the following stacks as extra dependencies in my package:

  • openni_launch
  • openni_camera
  • scanpointcloud_to_laserscan
  • hector_mapping
  • hector_geotiff
  • hector_trajectory_server
  • openni_camera_deprecated

Although this generates the first observation and map updates correctly, Ive found that the Kinect fake laser scan moves in the opposite direction to that actual camera motion so the map does not update properly beyond this point. So when rotating the camera clock wise the fake laser scan view moves counter clockwise.

Any ideas how to fix this anyone?

Cheers for your help.

Finaly fixed it :)

My understanding of ROS is still limited yet i was able to get it to work(one issue though). So it turns out that the code provided at link. the link below is a bit dated, so :dated:

http://answers.ros.org/question/11363/how-to-generate-map-with-hector_slam-and-kinect

  • The openni_node has been deprecated, so the first line of Launch file 1 has to be changed.
  • The TFs need to be changed as the TFs are not connected in the code provided. I probably have more TFs that i need.

I am using this setup, to perform 2d slam using a hand held systems with no picth and roll along at a fixed height.

Find my launch files at:

I have the following stacks as extra dependencies in my package:

  • openni_launch
  • openni_camera
  • scanpointcloud_to_laserscan
  • hector_mapping
  • hector_geotiff
  • hector_trajectory_server
  • openni_camera_deprecated

Although this generates the first observation and map updates correctly, Ive found that the Kinect fake laser scan moves in the opposite direction to that actual camera motion so the map does not update properly beyond this point. So when rotating the camera clock wise the fake laser scan view moves counter clockwise.

Any ideas how to fix this anyone?

Cheers for your help.