如何使用Hector SLAM 包

下载安装包

sudo apt-get install ros-kinetic-hector-slam

进入hector_slam包，在launch目录下添加launch文件

test.lanuch

<launch>
    
      <node pkg="rviz" type="rviz" name="rviz" args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>

     <include file="$(find hector_slam_launch)/launch/hector_mapping.launch">
	<arg name="odom_frame" value="laser">	
	<arg name="base_frame" value="laser">
	<arg name="scan_topic" value="lidar_scan">
     </include>

    <include file="$(find hector_slam_launch)/launch/geotiff_mapper.launch">

      <arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>

    </include>

 </launch>

其中 hector_mapping.launch和geotiff_mapper.launch文件不需要做任何改变。这里注意的是

	<arg name="odom_frame" value="laser"> 
  	<arg name="base_frame" value="laser">

odom_frame和base_frame都是激光雷达数据发布得frame_id:laser。

启动激光雷达node，以rplidar为例

roslaunch rplidar_ros rplidar.launch

启动hector SLAM建图

roslaunch hector_slam_launch test.launch