How to add odometry into hector slam?

edit

Thank you! It is a useful experience for us. It seems that another running package would influences the running time of data processing. We can't use camera, we will consider your advice when it is necessary.

@Blupon I found the parameter settings of hector mapping in your project, the parameter "p_use_tf_pose_start_estimate_" is not involved. Have you tried by setting it to be true and run your project again? Thanks!

I see that parameter in my logs but I don't see it described on hector_mapping wiki page, nor explained by google. Why do you wish to change it ? RTABMap's creator let it that way when using hector_mapping's odometry, I guess he had a good reason to ^^

We want the hector_mapping to build map with odometry information. The odometry information from the robot's wheel encoder. We don't want to use the odom data produced by the scan matching of hector_mapping.

Right ! it seems I misunderstood your aim & forgot to read your question update, my bad. How do you change the parameter ? Can you do it at launch ?

The odom data has been fused into tf tree. We think the keypoint is the paramter "p_use_tf_pose_start_estimate_". If this paramter is set to be true, the odom information from tf data can be used for estimate the pose of robot. However, as our question above mentioned, it failed.We don't know why

my question was: how do you set it to true ? :-)

In your launch file, add <param name="use_tf_pose_start_estimate" value="true"/> Maybe this parameter should be used with parameter p_map_with_known_poses_ , so you also can try by adding <param name="map_with_known_poses" value="true"/>. The default value of these two paramters are false.