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Get the localization track of hector_mapping

asked 2019-04-09 21:13:09 -0600

anonymous user


I want to use the localization part of hector_mapping, so I want to test the accuracy of the localization. I am going to set a straight physical track for the robot, so the path of the robot is a very straight line. Then I want to get the hector_mapping localization trajectory(a track containing all the localization points), and then compare the actual trajectory with the hector_mapping locating trajectory. How can I get the the above track measured by hector_mapping? Or is there a better way to test the localization accuracy of hector_mapping?

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answered 2019-05-16 13:12:00 -0600

A_Hari gravatar image

If you have a simulation running on gazebo, I think you can use the gazebo/model_states to obtain the ground truth of the robot pose.

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Asked: 2019-04-09 21:13:09 -0600

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Last updated: May 16 '19