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how to 3D SLAM by hector_mapping

hi everyone

I try to make 3D slam with hector_mapping

i can run 2D slam by hector mapping default launch file and give the 2D pose and map. at next step, i want to use altitude and IMU to make a 3D slam, but i don't know how can i do it... anyone can explane to me this proses step by step ???

my device : laser scanner (UST-10LX) - IMU by /mavros - altitude by linear laser scanner.

and this is my 2D slam launch file:

<?xml version="1.0"?>

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="laser_frame"/> <arg name="odom_frame" default="laser_frame"/> <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 -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

</node>

</launch>

how to 3D SLAM by hector_mapping

hi everyone

I try to make 3D slam with hector_mapping

i can run 2D slam by hector mapping default launch file and give the 2D pose and map. at next step, i want to use altitude and IMU to make a 3D slam, but i don't know how can i do it... anyone can explane to me this proses step by step ???

my device : laser scanner (UST-10LX) - IMU by /mavros - altitude by linear laser scanner.

and this is my 2D slam launch file:

<?xml version="1.0"?>

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="laser_frame"/> <arg name="odom_frame" default="laser_frame"/> <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 -->
<!--
  <param name="output_timing" value="false"/>
  <param name="pub_drawings" value="true"/>
  <param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />

</node>

</launch>

how to 3D SLAM by hector_mapping

hi everyone

I try to make 3D slam with hector_mapping

i can run 2D slam by hector mapping default launch file and give the 2D pose and map. at next step, i want to use altitude and IMU to make a 3D slam, but i don't know how can i do it... anyone can explane to me this proses step by step ???

my device : laser scanner (UST-10LX) - IMU by /mavros - altitude by linear laser scanner.

and this is my 2D slam launch file:

 <?xml version="1.0"?>

<launch> <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> <arg name="base_frame" default="laser_frame"/> <arg name="odom_frame" default="laser_frame"/> <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"/>

default="2048"/> <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">

<!-- Frame names -->
output="screen">

    <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 -->
<!--
   <param name="output_timing" value="false"/>
   <param name="pub_drawings" value="true"/>
   <param name="pub_debug_output" value="true"/>
-->
 <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>
</launch>

</node>

</launch>

how to 3D SLAM by hector_mapping

hi everyone

I try to make 3D slam with hector_mapping

i can run 2D slam by hector mapping default launch file and give the 2D pose and map. at next step, i want to use altitude and IMU to make a 3D slam, but i don't know how can i do it... anyone can explane to me this proses step by step ???

my device : laser scanner (UST-10LX) - IMU by /mavros - altitude by linear laser scanner.

and this is my 2D slam launch file:

    <?xml version="1.0"?>

<launch>
  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="laser_frame"/>
  <arg name="odom_frame" default="laser_frame"/>
  <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">

    <param name="map_frame" value="map" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="odom_frame" value="$(arg odom_frame)" />


    <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)"/>


    <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" />


    <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" />


    <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)"/>


      <param name="output_timing" value="false"/>
      <param name="pub_drawings" value="true"/>
      <param name="pub_debug_output" value="true"/>

    <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>
</launch>