some problem about the hector exploration control

asked 2015-04-01 04:23:02 -0500

Anthony Brooks gravatar image

updated 2015-04-01 04:34:11 -0500

Hello everyone:

I am trying to use hector navigation stack on my wheeled robot , and the package I used is :

hector_costmap,

hector_exploration_node,

hector_elevation_mapping

hector_exploration_controller.

After running these package , I could see the path in the rviz , but My robot tends to just rotating along z-axis (perpendicular to the ground) almost all of the time. May I know what did I do wrongly?

edit:the turning speed is 0.4m/s the moving speed is 0.15m/s. The lidar I used is URG-04LX-UG01

Here is my hector_mapping.launch(start the hector_slam): <launch>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<param name="pub_map_odom_transform" value="true"/>

<param name="map_frame" value="map" />

<param name="base_frame" value="base_link" />

<param name="odom_frame" value="base_link" />

<param name="base_frame" value="base_stabilized" />

<param name="odom_frame" value="base_stabilized" />

<!-- Map size / start point -->

<param name="map_resolution" value="0.010"/>

<param name="map_size" value="2048"/>

<param name="map_start_x" value="0.5"/>

<param name="map_start_y" value="0.5" />

<param name="laser_z_min_value" value="-2.5" />

<param name="laser_z_max_value" value="7.5" />

<!-- Map update parameters -->

<param name="update_factor_free" value="0.4"/>

<param name="update_factor_occupied" value="0.7" />

<param name="map_update_distance_thresh" value="0.002"/>

<param name="map_update_angle_thresh" value="0.006" />

</node>

<param name="laser_min_dist" value="0.02" />

<param name="laser_max_dist" value="5.6" />

<param name="map_pub_period" value="0.5" />

<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 /base_link /laser 100" /> 

&lt;node pkg="hector_imu_attitude_to_tf" type="imu_attitude_to_tf_node" name="imu_attitude_to_tf_node" output="screen"&gt;

&lt;remap from="imu_topic" to="thumper_imu" /&gt;

&lt;param name="base_stabilized_frame" type="string" value="base_stabilized" /&gt;

&lt;param name="base_frame" type="string" value="base_footprint" /&gt;

</node>

</launch>

Can anybody help me?Thanks a lot

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Comments

I have the very same problem with Hector exploration package, it just rotates and nothing else! i hope someone can answer this. could u fix the problem?

sobot gravatar image sobot  ( 2015-05-04 18:28:36 -0500 )edit
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