hector slam problem with imu
How to combine the hector slam (mapping) with microstrain imu ? will it be cancel out the "SearchDir angle change too large"? thanks
My robot have neither odometry nor imu. But I am able to produce the map.I have to move very slow else it will show "SearchDIR angle change too large"and at some point of time mapping is stopped.I want to integrate imu now.I am able to produce values over /imu topic.Could you help me fusing with map
Can you post a more detailed description of your setup (type of LIDAR/environment you try to use it in etc.) ?
Currently I have a Hokoyo Laser Range Finder, PC104 3353f and a Microstrain 3DM-GX3-25 IMU. I am trying to achieve something similar to this video: http://www.gkmm.tu-darmstadt.de/rescue/?q=node/141 However, I do not know how am I supposed to integrate the IMU with hector_slam.
Now I am already able to get a map when there is only horizontal and slow movement. But this "SearchDir angle change too large" appears frequently
I launch the following launch file together to get the map : hokuyo test.launch(default launch file) , microstarain default launch file, hector_mapping default launch file and hector_slam ugv launch file (but this i edit it a bit)
when i type the "roswtf"command i found the following error:ERROR Communication with [/hokuyo] raised an error: ERROR Communication with [/map_nav_broadcaster] raised an error: ERROR Communication with [/nav_base_broadcaster] raised an error: ERROR Communication with [/rosout] raised an error:
ERROR The following nodes should be connected but aren't: * /hector_mapping->/hector_mapping (/tf) * /hokuyo->/hector_mapping (/scan) * /nav_foot_broadcaster->/hector_mapping (/tf) * /nav_baselink_broadcaster->/hector_mapping (/tf) * /map_nav_broadcaster->/hector_mapping (/tf)
Thank you in advanced for your help :D