Improve the localization accuracy of `hector_mapping`

asked 2019-04-10 08:32:16 -0600

anonymous user


updated 2019-04-10 20:45:21 -0600

jayess gravatar image

I have a rplidar A2, I want to use it to provide localization information for my robot. I designed a track like the photo below, and the lidar will be moved 1 meter along the track every time I test. image description If the hector_mapping localization information is accurate, the trajectory observed in rviz will have a high degree of coincidence with the the x-axis. However, I tested it many times and got the following trajectories, the result shows that the localization error is relatively large.

image description image description image description

And this is the output of slam_out_pose(The ideal value should be around (1,0), and he scan angle of the lidar is 360 degrees):

angel:360° x:0.97938 y:-0.20699

angel:360° x:0.98554 y:-0.16751

angel:360° x:1.00000 y:-0.07292

angel:360° x:0.98748 y:-0.17034

angel:360° x:0.93154 y:-0.37575

angel:360° x:0.96340 y:-0.28293

Also attach the launch file I use.

Is there a way to improve the localization accuracy of hector_mapping?

<?xml version="1.0"?>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_link"/>
  <arg name="odom_frame" default="base_link"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

    <!-- Frame names -->
    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg base_frame)" />

    <!-- Tf use -->
    <param name="use_tf_scan_transformation" value="true"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>

    <!-- Map size / start point -->
    <param name="map_resolution" value="0.050"/>
    <param name="map_size" value="$(arg map_size)"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5" />
    <param name="map_multi_res_levels" value="2" />

    <!-- Map update parameters -->
    <param name="update_factor_free" value="0.4"/>
    <param name="update_factor_occupied" value="0.9" />    
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="0.06" />
    <param name="laser_z_min_value" value = "-1.0" />
    <param name="laser_z_max_value" value = "1.0" />

    <!-- Advertising config -->
    <param name="advertise_map_service" value="true"/>
    <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
    <param name="scan_topic" value="$(arg scan_topic)"/>

    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

  <node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser_link 10"/>
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I've copied your launch file directly into your question, that the question is self-contained.

jayess gravatar image jayess  ( 2019-04-10 20:46:48 -0600 )edit

Is there a way to improve the localization accuracy of hector_mapping?

Yeah - understand what the code is doing is the first step, though. The code is all available, and it's not even that large in size. Have you tried reading it and investigating?

Sebastian gravatar image Sebastian  ( 2019-04-12 12:37:17 -0600 )edit