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Hector Slam with Odometry

asked 2014-01-16 02:44:04 -0600

Yuliang Sun gravatar image

updated 2014-01-28 17:05:11 -0600

ngrennan gravatar image

Hi everyone.

I have already used Hector slam (without odometry data) to create a mapping process successfully. But now I want to use odometry data from my mobile Robot with hector slam node.

Is it possible? How can I achieve it? Can anyone share experience in writing an odometry node?

Thank you so much for helping me!

BTW, I am using fuerte 12.04.

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answered 2014-01-18 05:54:02 -0600

You can use hector_mapping with a robot providing odometry (see "Use in place of gmapping" in the setup tutorial). Odometry is not used within hector_mapping though, as in the original use case it was advantageous to be able to perform mapping without reliable odometry.

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I already created a map with hector_slam (without reliable odometry). What I try to figure out is, if it is possible to use odometry data with hector_slam by writing an odometry node or something, which will gain the data from real odometry sensor.

Yuliang Sun gravatar image Yuliang Sun  ( 2014-01-19 01:42:33 -0600 )edit

There will be no improvement in mapping performance by providing odometry data currently. It certainly would be possible to add support, but it hasn't been done so far.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2014-01-19 06:52:44 -0600 )edit

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Asked: 2014-01-16 02:44:04 -0600

Seen: 1,919 times

Last updated: Jan 18 '14