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umigv / goat

Codebase for the GOAT
BSD 3-Clause "New" or "Revised" License
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Get hector_slam running #155

Closed Gregory-Meyer closed 6 years ago

Gregory-Meyer commented 6 years ago

We can use hector_slam as a 2D lidar SLAM algorithm that requires no Odometry data to get mapping. Compared to gmapping, this makes it significantly easier to get tested.

When this issue is closed, hector_slam should be running from a bagfile on either the laptop or a Jetson using mapping data collected from driving the GOAT in teleop mode. It would be ideal if the mapping took place in real time, so play around with the parameters.

http://wiki.ros.org/hector_slam

Gregory-Meyer commented 6 years ago

Got hector_mapping running in real time on a bagfile. Robot was teleoperated while recording lidar and robot_state_publisher was running with URDF from urdf_goat. See file "teleop-lidar-encoder-feb-4.bag" on #system_sensors.