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ros mapping

asked 2011-11-14 23:27:58 -0600

vivek gravatar image

updated 2014-01-28 17:10:47 -0600

ngrennan gravatar image

hi im using an asctec quadrotor, and i would like to map the environment, the only odometry data that i can provide is the velocity, can someone please suggest which form of mapping is the most suitable ? im using a hokuyo urg lidar as my sensor

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answered 2011-11-15 06:05:48 -0600

updated 2012-02-02 15:53:18 -0600

There are two open source options available that I know of and that should work 'out of the box' after setup of the system (robot model, tf frames etc.) :

  • The mapping system developed within the CityFlyer project from CCNY uses a scanmatching approach for generating a odometry estimate and feeds this to gmapping. Described here.

  • hector_slam uses fast scan alignment at 40Hz directly and does not require odometry data. Both available tutorials should help with robot setup. Described in this paper. (Note I'm involved here, shameless plug and all :) )

Both approaches have been tested successfully with datasets recorded on quadrotors.

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Hm, in the "preview" section when editing the message, the above mess of links looks clean and correct as intended. Any ideas on what's wrong?
Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2011-11-16 00:54:02 -0600 )edit
using the wiki syntax instead of raw HTML seems to work in both the preview and final result..
Patrick Bouffard gravatar image Patrick Bouffard  ( 2012-02-02 15:54:06 -0600 )edit

Hi, the first link about the CityFlyer project is not working. Is this one? Thanks in advance.

Amarante gravatar image Amarante  ( 2013-04-02 03:51:28 -0600 )edit

answered 2011-11-16 00:18:17 -0600

vivek gravatar image

yea im trying to use hector mapping, but im having problems with the bag file. I can get the map data with the sample bag files put up but cant get anything from the bagfiles i create. im subscribing to /scan /tf and /asctec/imucalcdata , the tf frames are just basic ones that just describe the location of the lidar with respect to the center of gravity of the quadrotor. can u please tell me if im missing anything im using the hokuyo urg 04lx

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Can you post the tf frame names? Or better yet, upload the bag file somewhere?
Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2011-11-16 00:55:23 -0600 )edit

answered 2011-11-15 03:20:40 -0600

Mac gravatar image

Mapping using only a 2D range sensor on a 6DOF vehicle is quite tricky. If you can keep the altitude fairly fixed (or are willing to pretend that the world is uniform along the z-axis, which is fairly true above desk height), you can probably use gmapping. If your quadrotor has an accelerometer, you can use that to figure out which way "up" is, and then project the 2D scan onto the X-Y plane, and pass it to gmapping.

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Asked: 2011-11-14 23:27:58 -0600

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Last updated: Feb 02 '12