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