lizi_mapping

Refer to Integrating-aruco_mapping-with-hector_SLAM for an overview. This repository is responsible for launching the required lizi ros nodes.

Installation

Requirements

This package was tested on Ubuntu 14.04 and ros indigo.

Required ros packages:

1. robotican Obtain directly from robotican: support@robotican.net

2. hector-mapping

3. hector_navigation

4. aruco_mapping

5. aruco_tf_lizi

Clone and build the ros package

cd your/catkin/workspace/src
git clone https://github.com/fauzanzaid/lizi_mapping/

cd ..
catkin_make --pkg lizi_mapping

Usage

1. Launch lizi node with hector mapping
   roslaunch lizi_mapping hector.launch

2. Save the map generated by hector mapping
   rosrun map_server map_saver -f file_name

3. Launch navigation with the help of aruco markers
   roslaunch lizi_mapping hector.launch [map_file:=file_name]