How to combine LIDAR and IMU with Hector mapping.

asked 2019-02-25 09:18:45 -0500

wmr gravatar image

Hi, I am a beginner to ROS trying to fuse the IMU for odometry along with a hokuyo LIDAR and hector mapping to create an accurate map. Currently the map works in rviz but the frames do not move continuously, Sorry for the links but I am unable to add the images manually. I am unsure where to begin and have just confused myself over the past week. I am using the xsens IMU package here here, I'm trying to follow this tutorial for setting up hector mapping here This is a graph of my frames and nodes here and these are the current nodes. These are my launch files for the mapping IMU and the Hector attitude to tf package

I am not quite sure what I am doing even after reading the docs, and I would really appreciate any pointers

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