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