catkin version of the hector_slam package: mapping issue
Hi,
I am new to ROS. I have been trying to work with hector_slam
tutorial for logged data and I noticed that the catkin
version of the hector_slam
does not give good mapping results as compared to the hector_slam
installation using package manager (sudo apt-get install ros-indigo-hector-slam
). There is a significant difference in the scan matching .I am using the default tutorial.launch
given in the github without any change. The trajectory of the robot is also different, which I believe is due to the scan mismatch.
Am I missing something here or is this a known issue? I also tried replacing the hector_mapping
executable in the catkin_HS/devel/lib/
directory from the /opt/ros/indigo/lib/hector_mapping
and it works fine.
To build the catkin package I followed:
- clone the
hector_slam
catkin stack from the github intosrc
folder catkin_make
- Source the setup file in the workspace´s
devel
folder roslaunch
thetutorial.launch
- Play the bag file provided in the tutorial tutorial
- Save the geotiff node.
I also tried the wstool
method described here. But the result does not improve. I dont have enough points to attach the images.
update: I am using Dual core CPU @2.60GHz with 4 GB RAM with 60 GB disk space (dual boot with windows). OS: 64 bit Ubuntu 14.04.I had the same issue with other machine with i7 processor 4GB RAM(dual boot). I am building without optimization (catkin_make).
Thanks in advance,