hector slam launch file

If you can not see any output in rviz like above, you may need to adjust tf tree. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. slam_methods gmapping, cartographer, hector, karto, frontier_exploration SLAM . For more information please visit the reference source. If you do not want to do this, you can add above command to .bashrc file. Yes, also launch hokuyo node and make sure the scan topics are the same. Autonomous navigation using navigation stack and hector slam, Hector_Slam tutorial problem (Map is not created) [closed]. Move the robot around the environment slowly. First install turtlebot3 ROS package. You should now see the mapping process in realtime in rviz. You can change necessary parameters in these files for your application. Groovy Source Install "rosmake -a" Build Error. To save a geotiff file at any time during the mapping process type: 2. The hector_slam_launch package contains some launch files that might serve as examples. what's difference between rosmake & makefile? roslaunch hector_slam_launch tutorial.launch. Our oko_slam.launch file calls oko_hector_mapping.launch file with some arguments. Yes, also launch hokuyo node and make sure the scan topics are the same. Check if you built hector_slam in Release version to get the full performance: 2. hector_slam's parameters are playing roles in the mapping result as well. This launch file starts the hector_mapping node as well as the hector_trajectory_server and hector_geotiff nodes needed for generating geotiff maps. open_rviz true . You can check our launch file oko_slam.launch and launch file oko_hector_mapping.launch. NOTE: You have to export each time from each terminal before calling the necessary ros functions. Since we are using Gazebo, model name is not so important. groovy workspace is like groovy/groovy_workspace/sandbox directory. If everything is okay, you should be able to see Rviz output like below: Important NOTE: Hector_slam package needs specific transform tree(tf) configuration to work properly. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. For more information about tf tree configuration for hector slam, one can check official hector_slam tutorial. I put everything together in 1 launch file. We used Turtlebot3 in Gazebo to record this bag file. As for resources consumption, it consumes less than gmapping, about 17-20% CPU, but requires more memory ( Image 9 ). 1) How to get the hector_geotiff_plugins to build cleanly? Fact is I have also tried that one. $ roslaunch kamu_robotu_launch oko_slam.launch sim_time:=true slam_type:=hector_mapping Then play the rosbag file again. . My tutorial. Make sure you have installed hector_slam correctly. For more information about tf tree configuration for hector slam, one can check official hector_slam tutorial. Now you should be able to see the map in Rviz like below: After obtained full map you can save it to anywhere you like. Please start posting anonymously - your entry will be published after you log in or create a new account. We do not use any odometry information since hector slam only subscribes laser scan data. Open tutorial.launch provided by hector_slam package. hector_slam_launch. 3) Afaik hector mapping doesn't use imu data (might be that they added that over the last year though). You have to set the following parameters of hector_mapping to reflect the . I have a hokuyo urg 04 lx for takin laser scans. After installing from the github repository, did a rosmake and got this error. If you build hector_slam from source but find your hector mapping on Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag is different from the author's. Remap the map frame and topic name in hector launch file to something else. Wiki: hector_slam_launch (last edited 2011-10-04 06:38:48 by StefanKohlbrecher), Except where otherwise noted, the ROS wiki is licensed under the, https://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_slam, https://github.com/tu-darmstadt-ros-pkg/hector_slam.git, Maintainer: Johannes Meyer , Author: Stefan Kohlbrecher . The ROS Wiki is for ROS 1. This launch file calls mapping_default.launch. A tag already exists with the provided branch name. A tag already exists with the provided branch name. First, let's try to call the default launch file tutorial.launch. 2) mapping_default.launch. turtlebot estimates wrong 2D pose on rviz when using amcl_demo, neato xv 11 lidar problem/ Hector slam/bad data, About the navigation of my robot [closed], http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot, Creative Commons Attribution Share Alike 3.0. ROS Index. 3) I do not have an IMU to use with the hokuyo lidar but I have a turtlebot with gyro, can I launch the turtlebot launch file and use teleop to get the imu from the turtlebot utilizing its IMU? Other packages work ok from the workspace like rbx1 etc, but it also have catkin installed. No version for distro humble. The main packages are: hector_mapping The SLAM node. Map-making works best at slow . the Map type and Point Cloud type, to visualize the desired datas. My question is - We assume that the reader has a basic understanding of ROS parameters and launch files for the following section. I also added hector_trajectory_server to each SLAM node because I find it really useful to visualize the robot's trajectory while doing SLAM, might provide some good insights in the future . Correct TF tree configuration for our case can be seen below: Important NOTE: You can also use our launcher with a real data without saving as a rosbag file. 2) mapping_default.launch. Go to urdf directory and open turtlebot3_waffle_pi.gazebo.xacro (if you use different model change it accordingly). do http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot). 3. hector_trajectory_server Saving of tf based trajectories. I am using ROS fuerte, ubuntu 12.04. (optional). My hector slam used to work with this file, but not with my own bag file since the bag file I was generating didn't have any tf. You should find both a .tif file containing the image data and a .tfw file containing the georeference information there. Ubuntu 18.04LTS $ cd ~ $ sudo apt-get install ros-melodic-rplidar . Add the desired displayed types using the 'Add' button, e.g. Cannot retrieve contributors at this time. Please start posting anonymously - your entry will be published after you log in or create a new account. This task is very easy thanks to so called xacro files. For this tutorial, we will use the RoboCup 2011 Rescue Arena bagfile we recorded with a handheld mapping system. What files should be version tracked with ros2 and ament_cmake? Let's launch hector_slam with my launch file. Go to our example rosbag file that keeps movement commands to turtlebot3. And RQT graph is the same as gmapping. Older. It is highly possible that this bag file is specific to waffle_pi. 2) Which launch file I should use to run hector mapping (From the tutorial I assume the file is the tutorial.launch located in hector_slam_launch folder) , also in this case I will have to run the hokuyo node separately using hokuyo.launch, if I am correct? hector_geotiff Saving of map and robot trajectory to geotiff images files. Get a bagfile to work with. Open it as well. Also tried removing the git repository and pulling again. hector_slam_launch contains launch files for launching hector_slam with different robot systems/setups/postprocessing scenarios Author: Stefan Kohlbrecher Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Specify model of the turtlebot 3 you are using. The easiest option is to install using the package manager (example for ROS indigo): 2. For example, check map_update_angle_thresh in hector_mapping/mapping_default.launch: Wiki: hector_slam/Tutorials/MappingUsingLoggedData (last edited 2020-07-21 20:26:06 by lukelu), Except where otherwise noted, the ROS wiki is licensed under the, http://code.google.com/p/tu-darmstadt-ros-pkg/downloads/list. Start the hector_slam system: This launch file starts the hector_mapping node as well as the hector_trajectory_server and hector_geotiff nodes needed for generating geotiff maps. Are you sure you want to create this branch? Image 8: initial pose for hector slam. Go to the launch file for Hector-SLAM. In our case, required transformations are done by robot_state_publisher in launch files. How to link tests but not executables in a ROS package? Then open all_nodes.launch file and change the parameters as per the pic below. If you are using another model, you need to save your own bag file. 3) Afaik hector mapping doesn't use imu data (might be that they added that over the last year though). To do so, first, go to the YD Lidar workspace and open the src file. Modify some LiDAR settings in the lidar launch file for indoor positioning. Also make sure your tf tree is correct (i.e. Setting for Lidar Testing The Hector SLAM is now ready. the Map type and Point Cloud type, to visualize the desired datas. These parameters decide SLAM performance. 1. is there a way for object detection or recognition with 2d laser scanner ? NOTE: We used waffle_pi as TURTLEBOT3_MODEL. Are you using ROS 2 (Dashing/Foxy/Rolling)? hector_slam tutorial.launch file couldn't launch, Creative Commons Attribution Share Alike 3.0. Download it to the current directory using wget: You can also try the other bagfiles we provide here: http://code.google.com/p/tu-darmstadt-ros-pkg/downloads/list. Known supported distros are highlighted in the buttons above. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. To review, open the file in an editor that reveals hidden Unicode characters. I am new to ROS and learning slowly. Set pub_odometry to true. How to manage multiple branches of the same git repository with wstool? To solve this, one can move turtlebot3 with teleop just one time and record the movement of turtlebot3 using rosbag. Our oko_slam.launch file calls oko_hector_mapping.launch file with some arguments. 1) dunno, wouldn't mind if i were you. Correct TF tree configuration for our case can be seen below: 4)I think it's nicer to create a new launch file which includes hector mapping and sets the according args. It still uses 3 launch files, but the SLAM launch file references the other two and can be run simultaneously. Just pick one of the models. Add the desired displayed types using the 'Add' button, e.g. Check out the ROS 2 Documentation, hector_slam_launch contains launch files for launching hector_slam with different robot systems/setups/postprocessing scenarios. LIDAR should publish to /scan topic by default, but it can be changed by modifying launch files mentioned before. [Hector Mapping] Could not transform while tf being published. Set pub_map_odom_transform to false (because this will be published by amcl). I downloaded the hector_slam package from the ros wiki page. 4) Do I need to create a separate launch file as described in the tutorial or I have to edit the same tutorial.launch file. Also tried removing the git repository and pulling again. However, you can use any bagfile you want. A playlist with example applications of the system is also available on YouTube. Analyze these two launch files. sudo apt-get install ros-groovy-hector-slam. In this tutorial, I would like to set up Hector-slam with Rplidar on Jetson Nano. NOTE: Hector_slam is compatible with only ROS kinetic and indigo distributions according to the hector_slam ROS wiki. Run the bagfile you record. 4)I think it's nicer to create a new launch file which includes hector mapping and sets the according args. All of this below is a single command, so you can just copy and paste. Then, this rosbag file can be used later to move turtlebot3 in the same way. The creation time is appended to the map base name for both files. Fig 1. Handheld Mapping System in the RoboCup 2011 Rescue Arena. Are you using ROS 2 (Dashing/Foxy/Rolling)? Use in place of gmapping. You might record this bagfile during either in simulation or real world. turtlebot3_remote.launch , SLAM launch . Home. hector_slam is only launch file, actual node is hector_mapping, on Wiki page following topics are mentioned as published: map_metadata (nav_msgs/MapMetaData) humble galactic foxy rolling noetic melodic. For example, we recorded a bag file which contains only laser scan data in /scan topic. You signed in with another tab or window. Hector-Slam on Jetson Nano. If you are designing a new LIDAR or you have a LIDAR different than the one on Turtlebot3, then you may need to manipulate LIDAR parameters in simulation. However both ways will work. how to . 1. which should work out of the box. Hi, I have pulled and rosmaked hector_slam from : http://wiki.ros.org/hector_slam?distro=groovy 1. Other packages work ok from the workspace like rbx1 etc, but it also have catkin installed. System: ROS Melodic. gmapping publishes the map->odom transform. launch file looks like this--- I do not understand which parameters to change, (sorry i am very new to ROS), And the mapping_default.launch file looks like this ----. As a start point, you can start to change xacro files of Turtlebot3 itself. mick_robot / mick_navigation / launch / hector_slam.launch Go to file Go to file T; Go to line L; Copy path Copy permalink; This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. You can install hector_slam also by using, Fact is I have also tried that one. HECTOR SLAM INSTALLATION GUIDE & TUTORIALS, Tutorial 1: Run Hector SLAM with Turlebot3 in Gazebo, Tutorial 2: Move Turtlebot3 with Recorded Rosbag instead of Teleoperation, Tutorial 3: Customize LIDAR Parameters in Gazebo, Tutorial 4: Run Hector SLAM with your own Data and without Gazebo. Then, install hector-slam using apt package manager. . groovy workspace is like .groovy/groovy_workspace/sandbox directory. Let's launch hector_slam with our launch file. For example, you may want to increase/decrease map_resolution etc. By default, geotiff maps are saved to the 'hector_slam/hector_geotiff/maps' folder. That's all for the installation. hector 1 hector_slam 2 "" Generally people want to test hector slam with different parameters and for these situations using teleoperation to move turtlebot 3 does not make any sense since you need to move in same way for all cases to make a fair comparison. Check out the ROS 2 Documentation. 56 lines (44 sloc) 2.35 KB You can steer the robot by opening a new window and typing: rosrun rqt_robot_steering rqt_robot_steering. The ROS Wiki is for ROS 1. On the other hand, it should be set true to use with rosbag files. NOTE: Please note that this bag file only publishes laser scan data to /scan topic. 1. You can check my launch file oko_slam.launch and launch file oko_hector_mapping.launch. Change LIDAR parameters as you wish like below: For more information please see reference source. You can move on the next section. Open Gazebo environment with specified world environment. In my case, required transformations are done by robot_state_publisher in launch files. Now, I have been able to run hector slam properly. Open Gazebo environment with specified world environment. This is what I did to get my hector slam working: 1) Played the bag file that comes with the hector_slam package (Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag). and when try to execute the basic command : roslaunch hector_slam_launch tutorial.launch I am getting the following errors: but the nodes are in the proper folder of the directories, Looks like you didn't properly build the packages or have a wrongly set up ROS workspace. how to know if my workspace is properly set. Navigation documentation is updated, but not finished. However, one should set /use_sim_time parameter as false while using real time data. 4. hector_slam_launch contains launch files for launching hector_slam with different robot systems/setups/postprocessing scenarios. NOTE: It is a good idea to copy original xacro file if you need to use default values later. Packages. 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