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

asked 2013-06-09 01:44:05 -0500

Mohsen Hk gravatar image

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?

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answered 2013-06-10 04:52:27 -0500

updated 2021-01-15 15:04:53 -0500

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.

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But won't sonar be helpful to detect glass?

parzival gravatar image parzival  ( 2021-01-03 10:08:34 -0500 )edit

True, I edited the answer to discuss this aspect.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2021-01-15 15:05:09 -0500 )edit

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Asked: 2013-06-09 01:44:05 -0500

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Last updated: Jan 15 '21