Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

how to force hector slam to set robot position ?

asked 2015-02-28 15:12:08 -0500

babaksn
15 ●5 ●6 ●9

updated 2015-02-28 15:13:06 -0500

hi we have a hokuyo laser and in the first seconds of running hector slam specially when the robot's laser data is few(for example in small places)
the robot position has very bad data jumps , but after a while it goes well .
therefore i want to force hector slam to consider and set the robot's position as 0,0 in the first seconds(for example 5 seconds). how can i do this?
i have tried to publish the robot's position to "tf" topic but it didn't work .
also i have launched the hector pose estimiation but it didn't solve the problem.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2015-02-28 16:07:27 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

You can set the robot pose via the (I think undocumented) "/initialpose" topic. This is analogous to how things are done in AMCL. The easiest way to publish to this topic is using rviz and using the "2D Pose Estimate" tool.

edit flag offensive delete link

Comments

i am publishing the initialpose but the problem of data jumping still remains. is it possible to change the source code to consider robot pose as 0,0 for a while?

babaksn ( 2015-03-01 08:54:06 -0500 )edit

Yes, that's of course possible. The update loop is here https://github.com/tu-darmstadt-ros-p... and could be modified. I apologize for not having the time to give detailed assistance.

Stefan Kohlbrecher ( 2015-03-01 09:09:18 -0500 )edit

thank you . i will figure it out.

babaksn ( 2015-03-01 10:00:35 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2015-02-28 15:12:08 -0500

Seen: 1,096 times

Last updated: Feb 28 '15

how to force hector slam to set robot position ? edit

1 Answer

Comments

Question Tools

Stats

Related questions

how to force hector slam to set robot position ?