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Using Hector_SLAM to get odom for autonomous navigation

asked 2019-06-01 04:02:22 -0600

parzival gravatar image

updated 2019-06-09 13:53:44 -0600

My aim is to implement autonomous navigation using hector_slam.

I have an RPLidar, through which I get Laser scan, and I can see the real time position of the lidar in rViz. I need to know how can I use this information and serve it as odom to move_base, or base_local_planner to be precise. /odom is of type nav_msgs/odometry while /slam_out_pose is of type geometry_msgs/posestamped and /poseupdate is of type geometry_msgs/posewithcovariancestamped.

I have read that hector_slam is a good approach in absence of odometry information. But could not find any source on how to implement it. Again, the answer to my specific question might not be the one I'm looking for. So please help me to implement autonomous navigation.

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answered 2019-06-10 03:51:12 -0600

vbs gravatar image

You can set the pub_odometry parameter of hector_slam to true to get the nav_msgs/odometry messages being published in the "scanmatch_odom" topic.

It's not documented in the ROS API description, but you can see it from the source code.

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Where exactly can I find it?

parzival gravatar image parzival  ( 2019-11-26 07:41:33 -0600 )edit

Do you mean where is it handled in the source code?

vbs gravatar image vbs  ( 2019-11-26 08:59:29 -0600 )edit

But it won't give me the twist messages, right? It will only give the pose. Is that sufficient for navigation and move_base?

parzival gravatar image parzival  ( 2019-11-26 12:10:01 -0600 )edit

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Asked: 2019-06-01 04:02:22 -0600

Seen: 2,396 times

Last updated: Jun 10 '19