ROS Hector Slam using RP-Lidar 2D Laser Scanner

Hello, I'm new on using ROS.

I work on a project which use 2D laser scanner and do localization solely based on Laser scanner result (without odometry) and i found out ROS support such a thing. I've try using ROS hector SLAM which found here, and it works wonder with logged data.

So far, i have no problem interfacing with my Rp-Lidar. I can save its raw data to a file (such as .txt), and using c++ i can stream the data saved on the .txt

My question is, how to link my saved laser scanner data and ROS Hector SLAM package? I've notice that the logged data use .bag file? Do i need to save my recorded data into a .bag file? thank in advance. hope i make my self clear

Asked by dpwicaksa on 2016-04-29 00:13:16 UTC

Comments

Answers

You need to save your laser data into a bag, I assume that you have already the driver to get back your laser data in the dedicated structure Laserscan. After that, launch your driver with the correct parameters and log your data into a bagfile with the command rosbag record <filename>and specify your laser topic.

Asked by TomSon on 2016-04-29 08:00:46 UTC

Comments

can you specify about saving the data into the .bag file? I have try as the wiki instructed but can only get the raw data (1 cycle visualization). the driver installed successfully, I able to run the ubuntu example program provided by RpLidar to read the raw data

Asked by dpwicaksa on 2016-05-02 07:00:38 UTC

try this http://wiki.ros.org/rosbag/Commandline

Asked by TomSon on 2016-05-02 13:35:18 UTC