Using Pixhawk IMU data from MAVROS with Hector SLAM to transform Point Cloud

asked 2019-04-27 09:07:21 -0500

Pycelle gravatar image


I have set up Hector SLAM to generate a map using the RPLIDAR A1M8. It works well, I am now looking at extrapolating this into a 3D point cloud using the /slam_cloud node outputted by hector_mapping. I have a distance sensor which I can use to measure the current height of the robot fine, however, I would like to factor in the IMU data from a Pixhawk to handle tilt of the robot. I have set MAVROS up and RVIZ can display the mavros/imu/data, but I do not know how to pass this to the hector_slam so that the resulting /slam_cloud is rotated in 3D space according to the IMU data. I have set up the Hector_imu_attitude_to_tf node which appears to be working, but I cannot figure out how to modify the hector config to use this node rather than the default tf. How would I go about modifying the launch files and configs so that it uses the modified tf? Will this actually transform the pointcloud?

Regards, Harry

edit retag flag offensive close merge delete


Hi Harry,

I am currently running into the same issue, any chance you figured the answer of your question and can help me out?

Thank you!

karanero gravatar image karanero  ( 2019-10-23 10:06:16 -0500 )edit