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asked 2016-05-11 04:11:59 -0500

lfr gravatar image

updated 2016-05-11 04:57:27 -0500

Hello !

I used hector_mapping with a simulated robot. Firstly, I used the default values for all parameters specified on the ROS website for hector_mapping. But now, I would like to tune these parameters and I don't understand what the map_multi_res_levels parameter is supposed to do ?

If anyone could help me, I will be grateful.


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answered 2016-05-11 05:05:48 -0500

Jbot gravatar image

The slam present in the hector package use multiple maps for position estimation. Theses maps each have different resolution (divided by 2 I think). So, if you have a resolution of 0.01, and map_multi_res_levels = 3, you will have :

  • a map with resolution of 0.01
  • a map with resolution of 0.02
  • a map with resolution of 0.04

The algorithme will use these 3 maps to compute the best position estimation.

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Ah ok, thank you for your quick and concise answer. I understand now.

lfr gravatar image lfr  ( 2016-05-11 07:06:41 -0500 )edit

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