Hector_slam and robot_localization

asked 2016-02-17 17:19:03 -0500

bote795
1 ●1 ●1 ●1

Hi,

I am trying to fuse my hokuyo urg laser scan with my IMU data and use in hector_slam. Currently hector_slam takes in the hokuyo laser scan data and outputs it to /poseupdate then I combine that with my IMU data using robot_localization where I get a odometry/filtered that is the combination of both. But I don't know how to get it back into hector_slam to be able to get a more precesise positon. How would I go about puting it back to hector_slam? Am I doing this wrong?

Ros noob,

Thank you

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answered 2016-03-02 06:24:26 -0500

demmeln
4306 ●32 ●45 ●69

I'm not sure what you mean by getting the combination back into hector_slam. What exactly would you expect the result to be?

As far as I know the only way to give prior information into hector slam is via TF, and even then, it only serves as a starting point for the scan-to-map matching, meaning that there is no probabilistic fusion between the prior and the information of the laser scan matching.