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How to use hector elevation mapping?

asked 2015-06-30 23:16:29 -0500

psprox96 gravatar image

Hi all!

hector_elevation_mapping advertises pointclouds and generates a local and/or global 2.5D elevation map.

I'm going to use this as a part of my project. I have the equipment that I need, Hokuyo UST 20LX and ASUS XtionPRO Live motion sensor (for point cloud). I managed to connect both equipments. However, how do I use the elevation mapping node?

In RVIZ, there can only be one Fixed Frame, either /base_link (if I want to use laser scan) or /camera_link (if I want to use the motion sensor). I can't set both simultaneously. This way, how am I going to put them together to use the elevation mapping?

Is there anything else I need to connect in order for RVIZ to do 2.5D map scanning?

Thanks for any help!

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answered 2015-11-12 09:27:00 -0500

ne0h gravatar image

Did you get "normal" hector_mapping running? I am not sure, but I think you need it. You can check out our launch files under and adapt them to the topics your robot uses.

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Thanks for your help! =)

psprox96 gravatar image psprox96  ( 2015-11-13 00:09:44 -0500 )edit

@ne0h I am able to produce normal hector mapping. Now I need to do mapping on ramps for that I want to do elevation mapping of hector. How to proceed with that? Thanks in advance

rahul puram gravatar image rahul puram  ( 2020-09-09 01:28:12 -0500 )edit

@psprox96 Are you able to produce an elevator map using hector?

rahul puram gravatar image rahul puram  ( 2020-09-09 01:29:01 -0500 )edit

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Asked: 2015-06-30 23:16:29 -0500

Seen: 847 times

Last updated: Jun 30 '15