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some question about the frame of the hector slam

asked 2015-03-27 12:14:05 -0500

Anthony Brooks gravatar image

Hello everyone:

I am studying the hector slam . I have some questions when I watch the some example about the .launch file: 1.what is the base_stabilized frame ? 2.what is the scan_matcher frame ? Is there some special affect for them?

Thanks in advance:)

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answered 2015-03-27 12:47:04 -0500

aak2166 gravatar image

base_stabilized is the frame which provides height data of the robot relative to the map/odom/base_footprint frames, but does not provide any orientation data. Not too sure about, scan_matcher. It might be the output frame from the laser_scan_matcher node. This node will match scans to a map, and publish a transform of the source based on feature mapping.

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thanks,it help me a lot.

Anthony Brooks gravatar image Anthony Brooks  ( 2015-03-28 06:04:01 -0500 )edit

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Asked: 2015-03-27 12:14:05 -0500

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Last updated: Mar 27 '15