Morid_92's profile - activity

you don't need hector_imu_attitude_to_tf, because you can use /imu_raw topic in hector_pose_estimation and fusion the imu data to tf

and

you can fusion the height by publish z value on /height topic in hector_pose_estimation

hi can you do this ???

i do this, i fuse imu and Z to localization but when i fused poseupdate from hector_mappin, localization gonna to jumping around...

hi all i run hector localization and i remap height and imu and compass. hector_pose estimation work perfectly. but when i remap 2D pose from hector mapping in /poseupdate topic, localization stopped and give FATAL error invalid state, reseting... anyone can help me about that ?

thanks and regards

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>

hi

i write a multi subscriber and one publisher in on cpp, but my publish speed is verry slow... how can i fix it ???