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hector mapping with fixed laser scanner

asked 2015-03-11 01:05:23 -0500

mohammad gravatar image

hi everyone

I want to use hector_mapping for my robot to do SLAM in uneven terrains. But i am not sure i can use this package if i dont have a stabilizer mechanism for my laser scanner. I mean can i use it just with laser scanner which is fixed in its place and an IMU data?

thanks

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answered 2015-03-11 02:11:01 -0500

Yes you can, the quality of results will depend on the magnitude of the roll/pitch motion of your robot however (if the scans contain not enough information due to looking at ground or sky, things might fail). For a explanation of how to set things up, see SettingUpForYourRobot or some prior questions here ( 1, 2).

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Thanks for your usefull answer. I have one another qustion. Do we really need IMU datas to use hector_mapping? because i cant see a topic which is for IMU message. I am getting a little confused on this:(

mohammad gravatar image mohammad  ( 2015-03-11 05:38:33 -0500 )edit

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Asked: 2015-03-11 01:05:23 -0500

Seen: 189 times

Last updated: Mar 11 '15