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load map in hector slam

asked 2016-06-06 02:18:37 -0600

panda gravatar image

is there any way to load a saved map in hector slam and locate init position? similar question on ros answers is 3 year ago, and I want to know is there any progress.

this feature may need loop closure, which hector slam didn't support for now. so I don't know how to do next

any help?

by the way , does gmapping support load map and find init position?

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answered 2016-06-06 02:33:59 -0600

gp gravatar image

This is a robot localization problem. You can use AMCL package for this purpose. AMCL.

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thanks, so I should build the map with hectorslam, and put the map into AMCL for localization, right?

panda gravatar image panda  ( 2016-06-06 21:00:35 -0600 )edit

yes. Actually map can be generated using any of the SLAM algorithms or even manually generated in any image editor and fed to localization as png, jpeg or pgm files. Thisbook has a chapter "Chapter 9 Building Maps of the World" on this topic.

gp gravatar image gp  ( 2016-06-07 00:22:51 -0600 )edit

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Asked: 2016-06-06 02:18:37 -0600

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Last updated: Jun 06 '16