Help using the package with Hector SLAM #22
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Hi @michaelchi08, this is definitely possible, we have had the same use case a few years ago. Since you are planning to navigate into an unknown environment, you will need a robust obstacle detection system. This needs to be published as a point cloud of obstacle points, by default on the GeRoNa uses this obstacle information in addition to the map that Hector SLAM will generate during path planning. Useful places to start looking might be: Basic laser scan to point cloud node: Launch of the basic obstacle detector: 3D obstacle detection (not sure of this applies to your use case) I hope this helps you getting started. Please do not hesitate to ask any follow-up questions :) |
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Thanks for your help and suggestion. error i'm seeing: mchikamc@mchikamc: started roslaunch server http://mchikamc:36587/ SUMMARYCLEAR PARAMETERS
PARAMETERS
NODES ROS_MASTER_URI=http://localhost:11311 process[highlevel_dummy-1]: started with pid [4756] [ INFO] [1581134760.917265054]: Start Action! Requested velocity: 1 [ INFO] [1581134795.800516896]: Start Action! Requested velocity: 1 |
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The kinematic path planner did not find a path. Looks like you had an obstacle in front of the robot: You already had the parameter The path planners used the following dimensions for collision checking: Do these match your robot's footprint? (Length I would suggest to
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Hey @betwo, I changed the planner parameters to match my robot footprint. The footprint of my robot is 0.42m(Length) and 0.30 (width) but i'm still getting the error. [ INFO] [1581273223.413644165]: Start Action! Requested velocity: 1 --------------ROSLAUNCH FOR PLANNER The planning map is like this:
The hector map is like this: The wall in front the robot is ~ 2m. It should be able to plan this i think. Are there some parameters to tweak in the path planner? I also did that export ROBOT_CONTROLLER = differential_orthexp before roslaunch rviz_controlled.launch Thanks |
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Looks like it's working now :) I will test and play with it more over the next few days. [ INFO] [1581277469.401787951]: Feedback: Moving |
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Thanks for the feedback that it's working now. Did you have to change anything to make it work? Looks like you don't detect any obstacles currently? You might want to activate the "scan2cloud" node for that, if the hector map is not generated quickly enough for obstacle avoidance. |
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i did setup the scan2cloud node but getting these erorrs which might be tf related: [ INFO] [1581481992.979302793]: Client is set up This is my launch. Can you explain what these topics do /scan/front/filtered and cloud/total? |
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Thank you for help man. Really grateful and appreciated. I will send you the tf frames later. if i had a 3d sensor, it would be the same concept? I know you referred a project previously. |
Right. The tree should generally allow you to transform every data source into your inertial frame(s), i.e.
Yes, you can use
Exactly. That is why we chose the generic point cloud interface. With a 3d scanner, you might need a more specialized algorithm, because you most likely also measure the floor, which must not be part of the obstacle cloud, otherwise the robot will not move a bit 😉 |
Hi,
I'm trying to use gerona with hector slam in real time. The idea is is to use the 2d nav goal in rviz to provide waypoints in an unknown map to move the robot while hector slam maps the surrounding and provides localization.
Is that approach possible? Any advises would be welcome.
Thanks so much,
Michael
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