Best tutorial on Hector Slam implementation, trying to resolve TF issues

asked 2017-03-07 07:26:39 -0600

w gravatar image

I have been working on this for about a week, I have run up against the normal issues and I am looking for a tutorial to help me through the next phase. Here is what I have done thus far:

I have ros(kinetic) master installed communicating with a remote ros(indigo) machine that publishes data via rosserial from an rplidarA2 mounted on a differential drive mobile arduino controlled bot( no wheel encoders).

Hector slam package is installed and functions when playing back the tutorials bagfile. If I attempt to switch to live data I can see the data, so I know it is present,but, I cant seem to get the live data and hector slam to play well together and publish the odom data.

Current list of ongoing TASKS:

**Implement Hector Slam with live data from RPLidar A2 Unit.**
  1. Implement Hector Slam with live data from RPLidar A2 Unit.
  2. Finish Differential Drive arduino code.
  3. Install ros navigation stack, and tie the differential drive, lidar, and odom data together.
  4. Begin working with MoveIt for Trajectory planning.

I need the Hector-Slam to work before, I can progress much further, I have attempted to work through all the tutorials I have found and have scoured this forum for applicable suggestions, specifically the correct way to launch RViz with live data from lidar.

I am not asking for a handout, just a hand up, if you respond with--- go read the ros hector slam wiki, it is not helpful been there done that have like 15 t-shirts.....

I do thank you for reading this far and all who have helped me make it thus far. This forum is full of experience, knowledge and great people.

Looking forward to your suggestions,

Best regards,


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it would help if you post your configuration files, launch files and tf tree.

Procópio gravatar imageProcópio ( 2017-03-09 11:07:08 -0600 )edit