laser_scan_matcher TO hector_slam

asked 2018-06-02 10:25:05 -0500

MCR01 gravatar image

updated 2018-06-02 12:03:09 -0500

jayess gravatar image

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.

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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...)

Jari gravatar image Jari  ( 2018-10-02 10:36:12 -0500 )edit

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.

Void gravatar image Void  ( 2018-11-16 07:49:16 -0500 )edit

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.

MCR01 gravatar image MCR01  ( 2018-12-16 13:19:09 -0500 )edit