Hector Slam & Autonomous Navigation, Next Steps?
Intro
Hi! I was wondering if someone can help me figure out what are the next steps that I should take in order to achieve autonomous navigation using Hector Slam.
Hardware and Software Detials
- Robot Car is a raspberry pi with 4 mecanum wheels, RPLidar A1, and ROS Kinetic. There is no odometry.
- Laptop has a VMware with ROS Noetic
- This is being used to remotely control the robot car with the keyboard (using the teleoptwistkeyboard node)
Tasks Completed
- Got the RPLidar and Hector Slam package from ROS website/Github (ROS provided links to the Github)
Used the hector slam tutorial (http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot) to change my baseframe, odomframe, and laser_frame offsets to the following:
<arg name="base_frame" default="base_link"/> <arg name="odom_frame" default="base_link"/> <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0.08 0 0.08 0 0 0 base_link laser 100" />
I controlled my robot car (using the teleoptwistkeyboard node) to map out my house and used another tutorial (http://wiki.ros.org/hector_slam/Tutorials/MappingUsingLoggedData) to saved the GeoTiff map, a .tfw file.
Next Steps?
I have going around ROS tutorials and ROS Answers and I am confused about where to go from here.
I know that running the Hector Slam "tutorial.launch" file will bring up RVIZ and on there I can send a "2D Nav Goal". I also know I need something else to subscribe to that topic to publish to "/cmd_vel" so that my robot can move. However, I do not know how to do that.
It seems as though, I can either use "movebase" from the Navigation Stack tutorial or use "hectornavigation"/"hectorexplorationplanner".
Can anyone help me and tell me which of the two I should do? Thanks!
Asked by KennyxD on 2020-11-04 12:29:02 UTC
Comments
now I'm in the same step. Did you find an answer or a way ?
Asked by apprentice_user on 2021-03-01 08:24:18 UTC
I am at the exact same position also can anyone tell us the next step or the way any help will be aprpeciated
Asked by mada63 on 2021-04-10 10:29:42 UTC