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Hector Slam input IMU data

asked 2014-12-01 06:59:14 -0600

tinytron

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Hi there,

I am running hector_slam in ROS Hydro with a Neato XV-11 laser and a Razor 9dof IMU.

The IMU has been included via hector_imu_attitude_to_tf.

In RViz everything looks good, I have a base_footprint frame that only moves on X and Y (and yaw) and attached to it a base_link frame that has additional roll and pitch movement.

Now my question is this:

Right now the IMU data is only transforming a frame but I guess that has no direct effect on the computation of hector_slam? Do I have to specify somewhere that hector_slam should consider the IMU data to increase its own accuracy? Or do I have to run an additional node for that, like hector_localization?

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answered 2014-12-02 01:08:26 -0600

Stefan Kohlbrecher

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hector_slam only uses (roll/pitch) imu data implicitly by transforming the scan through tf. It would be possible to for example use IMU data for improving the scan-matching start estimate, but this is currently not implemented.

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Ok thanks!

tinytron ( 2014-12-02 03:38:44 -0600 )edit

Dear Stefan, I have a question about this issue. I read the pdf below. http://tedusar.eu/cms/sites/tedusar.e... On page 32, you explained the Handheld Mapping System has IMU. Does IMU has no direct effect on the computation of hector_slam?

wyasuda ( 2015-01-01 03:39:41 -0600 )edit

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Asked: 2014-12-01 06:59:14 -0600

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Hector Slam input IMU data