HectorSlam + Odometry

asked 2017-06-28 07:33:55 -0500

JustaLinuxLover gravatar image

updated 2017-06-28 08:10:30 -0500

Hello every one, I'm trying to use hector mapping by using hector slam with a hokuyo laser (using urg_node for the laser data) but the result is really awful (precision is so bad and the map shifts from time to time resulting in a bad map. So I tried improving the result by involving odometry and an imu sensor in the process. I followed the instructions in the internet and looked at a launchfile example written by hector and wrote a similar launch file but the mapping is still no good, I have no idea what to do and what I'm doing wrong.
If anyone can help me with a step by step guide I'll be really grateful. I'm attaching my launch file + the imu_node that I wrote myself (since I didn't find any simple node). Thanks in forward

P.S: Please read my imu_node to see if I'm doing anything wrong in it aswell since I'm not sure about it; It seems like I can't upload a file right now due to my low points so I'm giving a google drive link for them: launch file: https://drive.google.com/open?id=0B42...
imu_msg.h: https://drive.google.com/open?id=0B42...
imu_msg.cpp: https://drive.google.com/open?id=0B42...
imu_msg_node: https://drive.google.com/open?id=0B42...

PP.S: Here's a sample of a map we got, note that the bottom part of it should be a square but it has shifted as you can see: https://drive.google.com/open?id=0B42...

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