Ask Your Question
0

Hector slam mapping error [closed]

asked 2017-07-26 11:34:53 -0500

m.jo759 gravatar image

updated 2017-07-26 12:34:43 -0500

Hello,

I'm trying to use hokuyo laser with hector slam but when I run the program and move the laser slowly the map is distorted. How can I fix the problem?

(see the photo for the problem)

thanks

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2019-05-20 02:34:50.100452

1 Answer

Sort by ยป oldest newest most voted
0

answered 2017-07-26 13:06:28 -0500

m.jo759 gravatar image

?xml version="1.0"?> mapping_default.launch

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame" $="" <arg="" name="base_frame" default="base_footprint"/> <arg name="odom_frame" default="nav"/> <arg name="pub_map_odom_transform" default="true"/> <arg name="scan_subscriber_queue_size" default="5"/> <arg name="scan_topic" default="scan"/> <arg name="map_size" default="2048"/>

<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output$<="" p="">

<!-- Frame names -->
<param name="pub_map_odom_transform" value="true"/>
<param name="map_frame" value="map" />
<param name="base_frame" value="base_link" />
<param name="odom_frame" value="base_link" />

<param name="odom_frame" value="base_link" />

<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

<!-- Map size / start point -->
<param name="map_resolution" value="0.05"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="5" />

<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.7" />
<param name="map_update_distance_thresh" value="0.2"/>
<param name="map_update_angle_thresh" value="0.06" />

<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>

<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue$
<param name="scan_topic" value="$(arg scan_topic)"/>

<!-- Debug parameters -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_sca$

</node>

<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_sca$

</node>

edit flag offensive delete link more

Question Tools

1 follower

Stats

Asked: 2017-07-26 10:48:52 -0500

Seen: 96 times

Last updated: Jul 26 '17