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Hector_Slam (Autonomous Navigation)

asked 2016-08-12 10:45:36 -0600

patrchri gravatar image

updated 2016-08-12 12:00:18 -0600


I am new to navigation and generally in ros and I am trying to use hector_slam metapackage for autonomous navigation. I am using ROS Kinetic. I have a 3 wheel robot with a lidar on which I have created as a urdf model and I am using gazebo for simulations. Currently, I have managed to use the hector_mapping node to create a map and visualize it through rviz. For the building of the map, I used teleoperation to move the robot. Now I am lost, because I am trying to implement autonomy on my robot. What packages of the hector_slam meta will help me with that and generally where should i start ?

Thank you for your time and for your answers in advance,


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@patrchri Hey, I saw your question about Kinect v2 earlier. I wish to do autonomous navigation using Kinect v2. Unlike you, I am not using LIDAR. I am totally lost about how to go about it. How can I convert depth information to laserscanner data? PLEASE HELP! I plan to use gmapping though. Thanks!

pallavbakshi gravatar image pallavbakshi  ( 2017-01-24 10:37:19 -0600 )edit

I haven't worked with the Kinect v2 since November and my project wasn't related to point cloud data,but you can get point cloud data from this tool .Then use these data with this package to get 2D laser points

patrchri gravatar image patrchri  ( 2017-01-24 17:18:09 -0600 )edit

2 Answers

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answered 2016-08-15 09:40:30 -0600

patrchri gravatar image

updated 2016-08-28 14:22:55 -0600

I found about the hector_navigation stack.

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Hey there, did you get it working as I need to do the following

burf2000 gravatar image burf2000  ( 2017-01-19 06:29:32 -0600 )edit

Yes, I have managed to get results in simulations...I have completed succesfully an autonomous_exploration behavior...Still haven't tried it on hardware though

patrchri gravatar image patrchri  ( 2017-01-19 15:33:22 -0600 )edit

Is there a package you can install via apt-get or do you need to download from source

burf2000 gravatar image burf2000  ( 2017-01-20 07:48:05 -0600 )edit

I don't know ...maybe there is via APT, but I installed from source and I didn't meet any major problems

patrchri gravatar image patrchri  ( 2017-01-20 08:17:27 -0600 )edit

hi, @patrchri, I also want to use hector_exploration_planner in hector_navigation, However, I found that hector_exploration_planner couldn't drive robot, i.e., the robot doesn't move. I also can't found where the velocity that drives the robot is computed and published. Am I missing something?

scopus gravatar image scopus  ( 2017-08-29 06:30:42 -0600 )edit

answered 2016-08-15 01:34:40 -0600

billy gravatar image

You are asking specifically about Hector, but is there a constraint that requires you to use Hector? I ask because the Navigation stack documentation has a nice tutorial that provides instructions essentially starting from scratch. It's great way for beginner to quickly* get a robot moving on its own.

It will show you gmapping slam (unlike Hector Slam, it requires odometry info with the lidar to build map) instead of Hector to build a map, then introduce AMCL and move_base for the localization and autonomous navigation and obstacle avoidance. If your robot has a means of getting odometry (wheel encoders, IMU, other?) I think the navigation stack is a good place to start.

DISCLAIMER: I have used Hector SLAM for map building, but tried nothing more with it. Did not attempt navigation with it. I am not advocating Navigation Stack over Hector Navigation, I am advocating for the thorough tutorial that comes with the Navigation Stack. YMMV.

*quickly is a relative term...

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Thank you for your in-detail answer...I chose hector because my robot does not have odometry. That's why I am trying autonomous navigation with that meta.

patrchri gravatar image patrchri  ( 2016-08-15 09:35:28 -0600 )edit

Could I combine the hector_mapping and generally the hector localization with the move_base of the navigation stack ?

patrchri gravatar image patrchri  ( 2016-08-15 10:10:05 -0600 )edit

A few hybrid options: 1 - You could use the laser scan matcher as replacement for odometry while using navigation stack. There are other threads on that topic you should check out. 2 - I don't think it matters where map comes from. I think any localization method would work if if has map/odom tf out

billy gravatar image billy  ( 2016-08-15 11:39:16 -0600 )edit

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Asked: 2016-08-12 10:45:36 -0600

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Last updated: Aug 28 '16