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I'm trying to generate a map of the environment using either a Kinect or a Hokuyo. Firstly, is this advisable to generate a map first with the Hokuyo and then use the Kinect for localisation?

Also, I do not have an odometry data to generate the map. Hector slam allows you to generate a map without actually taking odom tfs but the documentation does not say explicitly how to generate the map. Or where the map is saved. Or how the mapping is started if it is not a turtlebot. Is there a step by step guide someone can point me to? Any help is really appreciated!