Go from gmapping to hector_slam

asked 2017-11-12 20:15:06 -0600

Andrey gravatar image

Hello! I have working gmapping for my robot. Now i want to use hector_slam instead of it. But have some problems. I use laser data and odometry. in gmapping everything works fine. But when i try to use hector_slam i have message SearchDir angle change too large. And map building wrong.

I also use move_base with both of it.

Here is my launch files for gmapping and hector_slam: gmapping launch hector_slam launch

And launch.xml (for tuning up): gmapping launch.xml hector_slam launch.xml

Here fragment of my tf tree in hector_slam (please do not pay attention to imu_frame :)) Hector_slam_tf

Please tell me what's my mistake and how can i go from gmapping to hector_slam?

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Comments

For the record, I'm running into the same issue. Did you ever find a solution? I'm going to keep working on it and I'll try to follow up if I do figure it out.

teddybouch gravatar imageteddybouch ( 2019-11-20 13:43:23 -0600 )edit