how to use hector_slam?
Hello All,
I am new to ROS and learning slowly. I am using ROS fuerte, ubuntu 12.04.
I downloaded the hector_slam package from the ros wiki page. After installing from the github repository, did a rosmake and got this error.
[ rosmake ] Output from build of package hector_geotiff_plugins written to:
[ rosmake ] /home/turtlebot/.ros/rosmake/rosmake_output-20130910-013847/hector_geotiff_plugins/build_output.log
[rosmake-3] Finished <<< hector_geotiff_plugins [FAIL] [ 2.73 seconds ]
[ rosmake ] Halting due to failure in package hector_geotiff_plugins.
[ rosmake ] Waiting for other threads to complete.
[rosmake-2] Finished <<< hector_mapping [PASS] [ 39.46 seconds ]
[ rosmake ] Results:
[ rosmake ] Cleaned 58 packages.
[ rosmake ] Built 57 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/turtlebot/.ros/rosmake/rosmake_output-20130910-013847
I have a hokuyo urg 04 lx for takin laser scans.
My question is - 1) How to get the hector_geotiff_plugins to build cleanly? 2) Which launch file I should use to run hector mapping (From the tutorial I assume the file is the tutorial.launch located in hector_slam_launch folder) , also in this case I will have to run the hokuyo node separately using hokuyo.launch, if I am correct? 3) I do not have an IMU to use with the hokuyo lidar but I have a turtlebot with gyro, can I launch the turtlebot launch file and use teleop to get the imu from the turtlebot utilizing its IMU? 4) Do I need to create a separate launch file as described in the tutorial or I have to edit the same tutorial.launch file.
My tutorial. launch file looks like this--- I do not understand which parameters to change, (sorry i am very new to ROS)
<?xml version="1.0"?>
<launch>
<param name="/use_sim_time" value="true"/>
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>
<include file="$(find hector_mapping)/launch/mapping_default.launch"/>
<include file="$(find hector_geotiff)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
</include>
</launch>
And the mapping_default.launch file looks like this ----
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame" default="nav"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<!-- Debug parameters ...
