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hector_mapping set-up

asked 2012-08-11 09:42:38 -0600

TJump gravatar image

From the tutorial (http://www.ros.org/wiki/hector_slam/Tutorials/SettingUpForYourRobot) which launch file is to be edited?

hector_slam/hector_mapping/launch/mapping_default.launch

or other?

Also, from the tutorial the parameters are listed as value="base_frame", value="odom", etc.; but in the launch file (mapping_default.launch) the parameters are listed as value="$(arg base_frame)" and value="$(arg odom_frame)"...

Am I in the wrong file or is setting arguments and calling them vs. the examples published in the tutorial a change from ROS electric to ROS fuerte?

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answered 2012-08-13 08:38:51 -0600

The answer by jodafo sums up things pretty well. To add just a minor point: The mapping_default.launch file is an example launch file and has some parameters specified using the <arg> tag to facilitate reuse. If your robot for example uses 'my_base_frame' as a base_frame and 'odom' as odom frame you can use the mapping_default.launch file like so in your launch file:

  <include file="$(find hector_mapping)/launch/mapping_default.launch">
    <arg name="base_frame" value="my_base_frame"/>
    <arg name="odom_frame" value="odom"/>  
  </include>

Of course, this is just optional. You can write your own launch file or specify parameters using a shorter form like here.

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Can you please update the broken Google Code links?

jondo gravatar imagejondo ( 2015-05-22 07:32:52 -0600 )edit
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answered 2012-08-12 04:51:53 -0600

jodafo gravatar image

updated 2012-08-12 04:56:10 -0600

Hi,

probably you will get a more qualified answer from one of the Hector guys soon since stefan kohlbrecher is quite active here, but until then ill try :).

mapping_default.launch should be indeed the right launch file, and it seems like they changed it a little bit since they wrote the tutorial. so you can either change base and odom frame by changing

arg name="base_frame" default="base_footprint"
arg name="odom_frame" default="nav"

or by changing

param name="base_frame" value="$(arg base_frame)" 
param name="odom_frame" value="$(arg odom_frame)"

as described in the tutorial.

I am assuming you are providing the requiered tfs as described in the tutorial?

or are you planning to use the provided bag file or gazebo? in both cases it should work out of the box...

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Which "provided bag file" do you mean? I don't see one on that tutorial page.

jondo gravatar imagejondo ( 2015-05-22 07:36:54 -0600 )edit
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jodafo gravatar imagejodafo ( 2015-06-01 08:19:58 -0600 )edit

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Asked: 2012-08-11 09:42:38 -0600

Seen: 1,560 times

Last updated: Aug 13 '12