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Exploration or navigation

asked 2016-03-07 11:32:09 -0600

papaclaudia gravatar image

Hi! I used hector slam to make a map of the environment. Now, I want to repeat the map using navigation or exploration. I installed hector_navigation and navigation packages but I don't know if I have to make changes and what commands to give. Can anyone tell me a complete tutorial or give me any information about steps to take? Because I have several launch files and nodes, but I do not know what to use and how to use them. Thank you!

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answered 2016-03-07 13:00:26 -0600

spmaniato gravatar image

For exploration, you don't even need to create a map in advance.

You can launch hector_slam, the hector_exploration_planner, and the hector_exploration_controller. The result will be simultaneous exploration and mapping.

For navigation, you can use your map with the standard ROS navigation stack. See

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Thank you! After hector_slam, I had launch "roslaunch hector_exploration_node exploration_planner.launch" and I had this error: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_link' becaus

papaclaudia gravatar image papaclaudia  ( 2016-03-08 03:28:27 -0600 )edit

...they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.102339 timeout was 0.1. And when I type "rosrun hector_exploration_controller simple_exploration_controller" I had: [ WARN] [1457429139.712816935]: Service call for exploration service failed.

papaclaudia gravatar image papaclaudia  ( 2016-03-08 03:30:27 -0600 )edit

What am I doing wrong? What display and what topic should I change in rviz?

papaclaudia gravatar image papaclaudia  ( 2016-03-08 03:31:53 -0600 )edit

Can you check this my link? Thank you!

papaclaudia gravatar image papaclaudia  ( 2016-03-08 05:39:55 -0600 )edit

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Asked: 2016-03-07 11:32:09 -0600

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Last updated: Mar 07 '16