[ros-users] hector_mapping

[Tim Coddington]

Stefan, 

I was able to use my hokuyo lidar with the hector_mapping package --
thanks

I'd like to get the registered 2D scan map out as point cloud to extract
line features.  Can you suggest the best way to do this?  

Thanks

On Wed, 2011-09-28 at 23:25 +0200, Stefan Kohlbrecher wrote:
> Hi Tim,
> 
> This is the launch file we use on our handheld mapping system. It
> starts the Hokuyo node only if the REALROBOT environment variable is
> set.
> You might want to have a look at 'mapping_default' launch file in the
> 'hector_mapping' package. This launches just the mapping node and
> nothing else.
> 
> There's only 2 things important about the source of laser scans (be it
> a Hokuyo LIDAR, log files or anything else):
> -It has to publish on the "scan" topic (or this has to be remapped).
> -There has to be a transformation between the scan's frame_id and the
> base_frame.
> 
> The perhaps most simple solution is to the the base_frame to be the
> same as the laser scanner frame_id. I'm currently working on a short
> "How to use hector_mapping on your own platform" tutorial, but that
> might take a few days due to other commitments.
> 
> regards,
> Stefan
> 
> 2011/9/28 Tim Coddington <tim.coddington at rteamworks.com>:
> > Stefan,
> >
> >   Nice work!
> >
> > What does it take to convert the hector_slam demo to run with the
> > hokuyo_node?
> >
> > I've cut/pasted my attempt to modify the mapping_box.launch file below,
> > which is the only one starting up Hokuyo, but no point cloud appears.  I
> > suspect that one of the required initial transforms is not being
> > published.  Can you help?   Thanks
> >
> >
> >
> > <launch>
> >  <group if="$(optenv REALROBOT 0)">
> >    <node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo_node"
> > output="screen">
> >      <param name="min_ang" value=" -2.2689" />
> >      <param name="max_ang" value="  2.2689" />
> >    </node>
> >  </group>
> >
> >  <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping"
> > output="screen">
> >    <param name="base_frame" value="base_stabilized" />
> >    <param name="odom_frame" value="nav"/>
> >    <param name="output_timing" value="false"/>
> >
> >    <param name="use_tf_scan_transformation" value="true"/>
> >    <param name="use_tf_pose_start_estimate" value="false"/>
> >    <param name="scan_topic" value="scan"/>
> >
> >    <!-- Map size / start point -->
> >    <param name="map_resolution" value="0.050"/>
> >    <param name="map_size" value="2048"/>
> >    <param name="map_start_x" value="0.5"/>
> >    <param name="map_start_y" value="0.5" />
> >
> >    <!-- Map update parameters -->
> >    <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="pub_drawings" value="true"/>
> >      <param name="pub_debug_output" value="true"/>
> >    -->
> >    </node>
> >
> >    <param name="hector_mapping/pub_map_odom_transform" value="false"/>
> >    <node pkg="tf" type="static_transform_publisher"
> > name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>
> >
> >  <node pkg="rviz" type="rviz" name="rviz"
> >    args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.vcg"/>
> >
> >  <include file="$(find hector_geotiff)/launch/geotiff_mapper.launch" />
> >
> >  </launch>
> >
> >
> >
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >