Hector Slam & Autonomous Navigation, Next Steps?

asked 2020-11-04 11:29:02 -0500

KennyxD gravatar image


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 teleop_twist_keyboard 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/Tutor...) to change my base_frame, odom_frame, 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 teleop_twist_keyboard node) to map out my house and used another tutorial (http://wiki.ros.org/hector_slam/Tutor...) 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 "move_base" from the Navigation Stack tutorial or use "hector_navigation"/"hector_exploration_planner".

Can anyone help me and tell me which of the two I should do? Thanks!

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now I'm in the same step. Did you find an answer or a way ?

apprentice_user gravatar image apprentice_user  ( 2021-03-01 07:24:18 -0500 )edit

I am at the exact same position also can anyone tell us the next step or the way any help will be aprpeciated

mada63 gravatar image mada63  ( 2021-04-10 10:29:42 -0500 )edit