# hector_mapping with move_base (navigating with only LIDAR)

Hi,

I am currrently using hector_mapping with the move_base 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:

1. Publishing laser scans on /scan
2. Run hector_mapping with /scan data with a transform between /scan and /base_link, thus obtaining both /map and the pose of the robot.
3. Run move_base on /map and /base_link.

The problem I have is something like this: move_base 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 move_base does not care about the orientation of the pose (it only gives out linear velocities). Attaching a screenshot. I have only used move_base 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 move_base working will be really helpful.

Thank you, Sai

Rviz display of the move_base + map updating in real time

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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_frames to see if there's a connection from map -> odom -> base_footprint -> base_link -> laser_frame. Any more info would help.