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Using hector slam with amcl for localization in a pre-made map

asked 2013-11-26 07:34:06 -0500

Fahad gravatar image

I wanted to exploit the fact that hector_mapping gives pretty accurate position estimate. I used the position estimate to find odometry and now hector_mapping successful publishes the odom message and gives the required tf. But when I run amcl and publish an already created map using map_server everything messes up because now both the hector_mapping and
map_server are publishing maps. Even if I remap the hector mapping map to something else to divert it my tf is disturbed. Please help how to resolve this issue

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answered 2014-01-23 16:39:28 -0500

updated 2014-01-23 16:41:46 -0500

Hi, just stumbled across your question. Might be a little late, but the following should allow to use both at the same time:

  • Remap the map topic of hector_mapping away
  • Set the pub_map_odom_transform parameter to "false"
  • If you want odometry published, set the pub_odometry parameter to "true"

/edit: Duplicate of this Q/A

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Just came across this post and I'm trying to do the same thing. I can't find the parameter for where the map topic is being published by hector_mapping. I know its /map but not sure how to remap it somewhere else.

Maybe putting <remap from="map" to="maphector"/> in the launch file?

musiqsoulchild gravatar imagemusiqsoulchild ( 2015-03-16 01:43:13 -0500 )edit

yes, that should work.

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2015-03-18 03:05:01 -0500 )edit

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Asked: 2013-11-26 07:34:06 -0500

Seen: 2,345 times

Last updated: Jan 23 '14