SLAM integration

[sskorol]

Hi @Myzhar,

Just curious if it's possible to integrate this node with hector_slam? They are still on ROS1 (and I'm not really sure if they'd migrate in the nearest future). I guess there's a difference between topics/frames used by ldlidar for publishing and what hector_slam expects while subscribing. Do you have any thoughts regarding the common steps required for such integration? Note that it seems like hector_slam can work w/o odometry, just by using lidar data.

Thanks, Sergey

[Myzhar]

There is a ros1_bridge package that allows ROS1 and ROS2 to coexist and communicate: https://index.ros.org/p/ros1_bridge/ Sincerely I never used hector_slam, so I do not know the topics that it requires, but topic name remapping is always a good solution in similar cases: https://wiki.ros.org/roslaunch/XML/remap

Regarding the frame name, there is a parameter that allows you to change it according to your requirements: https://github.com/Myzhar/ldrobot-lidar-ros2/blob/main/ldlidar_node/config/ldlidar.yaml#L15

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