Question about Hector SLAM

[Ankit Ravankar]

Dear Patrick,

I was going through major slam processes available and found out that there are two major techniques, one being the GMapping package and the other

one Hector SLAM package on ROS. 

Also, Hector slam can work without odometry and can be implemented on any system. 

I am wondering, as the turtlebot's odometry is relatively poor, can we use Hector slam to improve the mapping result and use AMCL for localization.

(Using offcourse the Hokuyo LIDAR, it doesnot work with fake laser from Kinect due to low fov.)

I still do not understand how to use hector slam with turtlebot. 

Have you tried using it on the turtlebot. Can you help setting up Hector slam on the turtlebot, since you understand all the codes and and can implement it faster.

Looking forward to your answer.

Thanks

Regards

Ankit

[Patrick Goebel]

Hi Ankit,

Unfortunately no, I have never looked at Hector SLAM.  However, looking at the http://wiki.ros.org/hector_mapping Wiki page, it seems to be designed for high speed LIDAR units like the Hokuyo UTM-30LX which runs at 40Hz.  The laser scanner I have on Pi Robot ( URG-04LX-UG01) runs at only 10Hz.

--patrick

--
You received this message because you are subscribed to the Google Groups "ros-by-example" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ros-by-exampl...@googlegroups.com.
Visit this group at http://groups.google.com/group/ros-by-example.
For more options, visit https://groups.google.com/groups/opt_out.

[Ankit Ravankar]

Dear Patrick,

I searched on ROS answers and found that hokuyo 04 lx can be used for Hector SLAM. They even have a hector_turtlebot package. But I dont understand how to make it work on the turtlebot. Here is the link for it. http://wiki.ros.org/hector_turtlebot

Hope you can put some insight into this.

Thanks

Ankit

[Patrick Goebel]

Hi Ankit,

I saw your post on answers.ros.org--that's probably your best bet for getting help.  I wish I could spend time on this now but I really need to focus on making the ROS By Example code compatible with Hydro which is turning out to be more work than I expected...

--patrick

[Ankit Ravankar]

Dear Patrick,

Its completely ok. Looking forward for the RBX-hydro release. Good luck.

Thanks and Regards

Ankit

'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
RAVANKAR ANKIT

Hokkaido University, Japan
Graduate School of Engineering (PhD student)
Division of Human Mechanical System Design
Laboratory of Robotics and Dynamics

Room A5-61

ラワンカル　アンキット

北海道大学大学院 工学研究科
人間機械システムデザイン専攻 バイオ・ロボティクス講座
ロボティクス・ダイナミクス研究室-A5-61
博士課程１年

Tel: 011-706-6410
E-mail to :rava...@mech-hm.eng.hokudai.ac.jp 
ankitr...@gmail.com