hector slam mapping error

asked 2020-10-12 15:12:56 -0500

jaime386 gravatar image

Hi I am trying to run hector slam on ubuntu 16.04 and using ros noetic. I have downloaded and built hector slam from https://github.com/tu-darmstadt-ros-p... . I have also updated the launch files to run without base footprint. To simulate hector slam I am using turtlebot3 waffle pi and for the mapping I am using gazebo and rviz. Everything works fine until the turtlebot rotates and when this happens the a new map overlays the original mapping data creating inaccurate data. I am not sure if this is a transform error within the hector slam code or what is going on? Thanks.

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Hello Even I am facing the same issue. The map is generated if we go in a well defined path with no abrupt rotations about the robot axis or sharp and fast turns. The reason may be that the approach does not use a loop closing algorithm to correct the map. So it is recommended to use IMU for more accurate position estimation and mapping. I am trying to make the algorithm use IMU data, not sure if I will be successful, but lets try. Hit a comment if you are successful. thanks

Vignesh_93 gravatar image Vignesh_93  ( 2021-02-02 04:32:44 -0500 )edit

As @Vignesh_93 said, it does not use loop closure. It relies on polar scan matching for pose estimation, and when the robot rotates too fast it causes problems for pose estimation. For now you can try to avoid this issue by rotating at a slower speed. @Vignesh_93 if you are able to use the pkg along with IMU data, do update here, it will help many. edit: The possibility of using IMU data to correct yaw seems quite low. Read the answer here: https://answers.ros.org/question/1986...

parzival gravatar image parzival  ( 2021-02-02 07:51:01 -0500 )edit

@parzival, Sure But I guess this is being under work by many of the enthusiasts. Lets see what can be done

Vignesh_93 gravatar image Vignesh_93  ( 2021-02-02 09:09:22 -0500 )edit

@Vignesh_93 could share links to some of the projects you've come across which are trying to achieve this?

parzival gravatar image parzival  ( 2021-02-03 04:21:21 -0500 )edit