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hector_imu_attitude_to_tf vs hector_localization

asked 2017-03-09 12:00:36 -0600

pschroeppel gravatar image

Hi, I'm using an IMU and a laser scanner and would like to create a planar map, but estimate the pose with 6DoF, for example for handheld mapping.

As far as I can see, it is not possible to estimate the height (z-axis value) with the available sensors, hence 5DoF remain.

My question now is: According to the hector_mapping tutorial (here), it is possible to calculate the roll and pitch angles and broadcast the resulting transform between base_stabilized and base_link with hector_imu_attitude_to_tf. On the other hand, the package hector_pose_estimation within hector_localization apparently takes the pose estimate from hector_mapping on /poseupdate, fuses it with the IMU data and publishes the 6DoF pose.

So, are there any advantages/differences when taking hector_pose_estimation instead of hector_imu_attitude_to_tf for example for performing 2D handheld SLAM, or is it just the same? Is hector_pose_estimation maybe capable of doing something else that I miss (looking at the source code it seems to be pretty complex)?

Thanks, Philipp

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answered 2017-03-14 10:07:04 -0600

Morid_92 gravatar image

updated 2017-03-20 17:33:45 -0600

hi can you do this ???

i do this, i fuse imu and Z to localization but when i fused poseupdate from hector_mappin, localization gonna to jumping around...

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you don't need hector_imu_attitude_to_tf, because you can use /imu_raw topic in hector_pose_estimation and fusion the imu data to tf


you can fusion the height by publish z value on /height topic in hector_pose_estimation

Morid_92 gravatar image Morid_92  ( 2017-03-15 09:26:47 -0600 )edit

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Asked: 2017-03-09 12:00:36 -0600

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Last updated: Mar 20 '17