multiple Laserscanner for Hector Mapping

asked 2015-08-06 03:22:46 -0500

felixwatzlawik
201 ●15 ●20 ●27

updated 2015-08-06 04:40:54 -0500

bvbdort

3034 ●32 ●43 ●58

Hello there,

I am trying to do hector mapping with two sick s300.

They're back to back and with this I have 360° of sight.. so I want to use both laser/scan topics for hector.

How can I tell hector to use two topics?

I already tried the following:

two Hector Mapping Nodes -> Result: I have two Maps which are jumping
one Hector Mapping Node and two Laserscanner Nodes -> Result: only using one node
one Hector Mapping Node and two Laserscanner Nodes one remapped two the other: ->Result: Laserscan is jumping and building a kind of okay map.. but not satisfying cause he is telling me that the searchdir angle was to big (of course, he thinks I have one laserscanner and I am turning it 180° degrees)

Is there a better solution to use multiple Laserscanners for hector mapping?

pls help, greez felix

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answered 2015-08-06 03:58:11 -0500

cyborg-x1

1376 ●21 ●32 ●44 https://github.com/Hacks4ROS

On thing I think could work definitely, is that you merge both laser scanners into one topic. Problem would be they do not exactly match the origin when they are back to back. So putting it into the laser message format could be a bit annoying.

Maybe this package could be useful for that http://wiki.ros.org/laser_assembler