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How to Mark a detected victim in hector slam

asked 2013-03-16 02:34:01 -0500

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hi, I want to know how i can mark a detected victim in map, using hector_slam... can any one help me?

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answered 2013-03-18 22:51:06 -0500

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Mapping objects of interest can be performed using the hector_object_tracker framework, which is independent of the SLAM system that is used to generate an environment map. It keeps track of objects of interest and using plugins for hector_geotiff, these can be added to generated geotiff maps. We haven't added comprehensive documentation for that yet, but looking at a example setup might be enough. A simulation scenario can be started as described here. Note the hlugv_worldmodel_all.launch that is launched there. This in turn launches the object_tracker.launch launch file, that sets up the object_tracker. A confirmed victim can then be added using a service call like in this example. When a GeoTiff map is saved, this added victim will also be plotted into it as the necessary plugins for doing that have been loaded using hector_geotiff.launch.

/edit: Since this answer has been originally posted, the object_tracker has been renamed to hector_object_tracker, so this change will also have to be reflected in launch files using it.

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Thank you for your response... I will consider your notes as soon as possible and i will be grateful if i can help you in completing this part of documentation of tu-darmstadt-ros-pkg.

alirezam.alizadeh gravatar imagealirezam.alizadeh ( 2013-03-18 23:19:49 -0500 )edit
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answered 2013-03-18 14:15:47 -0500

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Although not sure if this helps, and yet not available and for GPS only, I'm making an rqt_gps, an rqt plugin that plots GPS positions. Discussion about feature is happening and I'm planning to test with hector.

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We're currently only writing very basic information (see http://www.robocuprescue.org/wiki/images/GeoTiff.pdf) into the .tfw file associated with the .tif, so that probably will not be very useful for testing your GPS package.

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2013-03-18 23:00:45 -0500 )edit

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Asked: 2013-03-16 02:34:01 -0500

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Last updated: Apr 17 '14