how can i use sonar with hector_mapping package (laser and IMU) to draw map?

asked 2013-06-09 01:44:05 -0600

Mohsen Hk
139 ●19 ●22 ●28

i created /map with laser an imu by hector_mapping package. but how can i use sonar (with laser and imu) too create better map?

answered 2013-06-10 04:52:27 -0600

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

updated 2021-01-15 15:04:53 -0600

It's non-trivial to improve LIDAR based maps using sonar sensors, as they return only one very noisy measurement for a cone in front of the sensor. There is no ready to use ROS package for sonar mapping available AFAIK.

/edit: So what is relatively easy to do is just using the pose provided by the SLAM system and following a "mapping with known poses" approach, building a independent map in parallel that incorporates LIDAR and sonar data. This would avoid the issue of the SLAM map degrading from noisy sonar data and allow to create a better map in the sense that for instance glass could be detected via sonar.