hector_mapping with move_base (navigating with only LIDAR)
Hi,
I am currrently using hectormapping with the movebase stack to perform SLAM as well as autonomous navigation. The reason is that the robot on which this set should be run does not have any odometry computing sources of its own, except a Hokuyo LIDAR on top.
The step-by-step process that I am working with looks something like this:
- Publishing laser scans on /scan
- Run hectormapping with /scan data with a transform between /scan and /baselink, thus obtaining both /map and the pose of the robot.
- Run movebase on /map and /baselink.
The problem I have is something like this: movebase gives me a path and it also looks like it's publishing the necessary velocity commands, but the path never gets updated when the LIDAR is moved. (mentioning again that LIDAR = robot here). Also, it looks like movebase does not care about the orientation of the pose (it only gives out linear velocities). Attaching a screenshot. I have only used movebase with actual robots or simulators so I am not sure if I am missing something simple here. Any suggestions as to how to get this combination of hector slam and movebase working will be really helpful.
Thank you, Sai
Rviz display of the move_base + map updating in real time
Asked by SaiHV on 2014-05-07 09:41:52 UTC
Comments
This sounds exactly like what I am trying to do.. did you get it working?
Asked by robotable on 2016-12-20 23:34:17 UTC
I just got hector_mapping working with move_base. Chances are the new obstacles aren't being created so the path wouldn't either. Use
rosrun tf view_framesto see if there's a connection frommap -> odom -> base_footprint -> base_link -> laser_frame. Any more info would help.Asked by Void on 2018-11-16 08:46:07 UTC
Did anyone found the solution? I am also trying to solve a similar problem. Can anyone share how can I solve the issue?
Asked by archit0994 on 2019-05-05 03:03:23 UTC