laser_scan_matcher TO hector_slam
Good afternoon,
I am new to ROS and trying to work my way through some learning curves.
I am trying to setup a Lidar scanner(YDlidar X4) to get a hector SLAM map. The project is handheld, No robot.
So far I was able to get hector SLAM to read a bag file from my scanner but it just won't aline correctly. So I was assuming that it was because there is no Odom. Then I found Scan-tools Scan Matcher.
I have run my bag file through Scan Matcher and it works correctly, scans matched up as I was hoping for. But it is only live view of the scan, not a saveable map.
This is where I need help:
I don't know what steps I should take from Scan Matcher to Hector Slam.
Thanks in advance for any help.
Hector is designed with no need for odometry. It can do scan matching on its own given your lidar has enough range/rate, which I'm unsure the YDlidar can do. Can you share some pictures of what errors you're getting and what your aligned scans look like? (edit: oh God this question is ancient...)
I just got YDlidar working with hector_mapping. If using hector_mapping's mapping_default.launch, it should start scanmatcher and align correctly. Use rosrun tf view_frames to see if there's a connection from map -> odom -> base_footprint -> base_link -> laser_frame. Any more info would help.
Hey guys, thank you for the reply's. I will take a look at this. It isn't dead. I had just shelved it for a bit as I could get it to work and was busy during the summer. Will get back to you with my findings.