How to use hector slam to navigate your robot [closed]

asked 2013-03-29 06:01:37 -0500

this post is marked as community wiki

This post is a wiki. Anyone with karma >75 is welcome to improve it.

Hi,

So far I was able to generate a map using a laser range finder. Now, I want to allow the robot to see the pathways and be able to autonomously guide itself through the map. Can someone please help me set this up? I would really appreciate it. I'm very new to ros and would appreciate a detailed explanation.

I'm guessing this has something to do with amcl? How do I integrate that with my robot? My launch file is as follows:

<launch>

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

<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch"> <arg name="trajectory_source_frame_name" value="base_frame"/> </include>

<node pkg="tf" type="static_transform_publisher" name="base_frame_to_laser_broadcaster" args="0 0 0 0 0 0 base_frame laser 100"/>

</launch>

Thank you!

edit retag flag offensive reopen merge delete

Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-11-26 03:15:35.123678

Comments

I forgot to mention I run the hokuyo_node node separately in the command line window, not through this launch file

hesh8 gravatar image hesh8  ( 2013-03-29 06:20:58 -0500 )edit

hey, so did you get it running? I am working on a similar project and would really appreciate any help. thanks..

gautam2410 gravatar image gautam2410  ( 2013-08-13 23:14:25 -0500 )edit
add a comment