hector slam

wiki上名叫hector_slam, 内部主要的功能包叫 hector_mapping
特点:
对硬件要求低,相反 cartographer高
不需要里程计信息(不需要将雷达的坐标绑定到某个固定坐标系比如base_link)
可以结合IMU数据使用
没有闭环检测部分,精确度高
栅格地图

要求激光的坐标为”laser”

#wiki

#github
https://github.com/tu-darmstadt-ros-pkg/hector_slam

hector

Hector = Heterogeneous Cooperating Team of Robots
成立於2008的秋天，於2010年晚期從原本的RoboFrame中的演算法移植變成ROS的型式package

整个包包含的节点有

hector_pose_estimation         將sensor的值轉換成imu資訊丟給tf處理。
hector_mapping                 不斷地即時更新map，並publish, slam node
hector_map_server              儲存並畫出地圖形狀，提供查詢位置(pose)服務。
hector_trajectory_server       Saving of tf based trajectories. 
hector_geotiff                 Saving of map and robot trajectory to geotiff images files. 

Subscribed topics

scan (sensor_msgs/LaserScan)

    #The laser scan used by the SLAM system. 

syscommand (std_msgs/String)

    #System command. If the string equals "reset" the map and robot pose are reset to their inital state. 

Published Topics

map_metadata (nav_msgs/MapMetaData)

    #Get the map data from this topic, which is latched, and updated periodically. 

map (nav_msgs/OccupancyGrid)

    #Get the map data from this topic, which is latched, and updated periodically 

slam_out_pose (geometry_msgs/PoseStamped)

    #The estimated robot pose without covariance 

poseupdate (geometry_msgs/PoseWithCovarianceStamped)

    #The estimated robot pose with an gaussian estimate of uncertainty 

Service

dynamic_map (nav_msgs/GetMap)

    #Call this service to get the map data