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