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How to use /poseupdate or /slam_out_pose from hector_mapping as /odom for base_local_planner

My aim is to implement autonomous navigation using hector_slam.

I have an RPLidar, through which I get Laser scan, and I can see the real time position of the lidar in rViz. I need to know how can I use this information and serve it as odom to move_base, or base_local_planner to be precise. /odom is of type nav_msgs/odometry while /slam_out_pose is of type geometry_msgs/posestamped and /poseupdate is of type geometry_msgs/posewithcovariancestamped.

I have read that hector_slam is a good approach in absence of odometry information. But could not find any source on how to implement it. Again, the answer to my specific question might not be the one I'm looking for. So please help me to implement autonomous navigation.

How to use /poseupdate or /slam_out_pose from hector_mapping as /odom for base_local_planner

My aim is to implement autonomous navigation using hector_slam.

I have an RPLidar, through which I get Laser scan, and I can see the real time position of the lidar in rViz. I need to know how can I use this information and serve it as odom to move_base, or base_local_planner to be precise. /odom is of type nav_msgs/odometry while /slam_out_pose is of type geometry_msgs/posestamped and /poseupdate is of type geometry_msgs/posewithcovariancestamped.

I have read that hector_slam is a good approach in absence of odometry information. But could not find any source on how to implement it. Again, the answer to my specific question might not be the one I'm looking for. So please help me to implement autonomous navigation.