hector mapping with only odometry

asked 2017-06-04 06:36:35 -0500

AliRaza gravatar image


How to use hector_mapping to produce maps using only odometry (no scan)?

In gmapping it is doable by tuning some params. I want to compare the hector_mapping and gmapping for this case.


The Pepper robot comes with a poor laser which can't be used for slam purpose. A way around is to use depth sensor (Xtion) but the lense fitted in front it makes the depth image highly distorted. I am curious to know that how much accurate maps can we get using only odometry, as the robot's odometry seems reliable.

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What do you mean when you say "a poor laser which can't be used for slam purpose"? Is it giving noisy data? or the range is too short? or something else

DavidN gravatar image DavidN  ( 2017-06-04 21:51:47 -0500 )edit

By 'poor laser' I mean that the laser sensors provide only few points ~45. Also, the maximum range is 3m. I tried gmapping using the laser scan but it was useless.

AliRaza gravatar image AliRaza  ( 2017-06-05 00:27:36 -0500 )edit