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navigation and pathplanning using hector slam

asked 2021-04-04 13:01:57 -0500

mada63
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updated 2021-04-05 09:42:49 -0500

HI, I am doing a project (building a fully autonomous car) using raspberry pi(high level) and arduino(low-level control) we already did mapping and localization on rviz i read a lot about using move-base for hector slam but a lot of problems appear because of the unavailability of odom did anyone do navigation and path planning using hector slam please take the time to tell me the overall steps to move on- as I am a bit confused-starting from downloading the move base package to controlling the motors any help will be appreciated

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answered 2023-08-02 02:21:56 -0500

Jeremy Fix
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Hi,

since your problem seems related to the transformation frames, especially the odom to base_link/ base_footprint , I would probably start debugging by removing the navigation part and just see what are the outputs of hector SLAM.

With hector SLAM, you should be able to

get the occupancy map (with the empty, obstacle, unknown cells) with the laser sensors integrated
get the localization of your robot in this map

These can be checked in RVIZ, using as fixed frame either map or odom.

If you debug the TF tree (e.g. with rqt_tf_tree), you should see the map, odom and base_link / base_footprint frames.

Only then you should consider introducing the navigation nodes.

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Asked: 2021-04-04 11:37:13 -0500

Seen: 164 times

Last updated: Aug 02 '23

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