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Package Summary
hector_slam contains ROS packages related to performing SLAM in unstructured environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition
- Author: Stefan Kohlbrecher, Johannes Meyer
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: master)
Documentation
Documentation is available for each package as linked above. The main packages are:
hector_mapping The SLAM node.
hector_geotiff Saving of map and robot trajectory to geotiff images files.
hector_trajectory_server Saving of tf based trajectories.
A playlist with example applications of the system is also available on YouTube
Details can also be found in this paper:
@INPROCEEDINGS{KohlbrecherMeyerStrykKlingaufFlexibleSlamSystem2011,
author = {S. Kohlbrecher and J. Meyer and O. von Stryk and U. Klingauf},
title = {A Flexible and Scalable SLAM System with Full 3D Motion Estimation},
year = {2011},
month = {November},
booktitle = {Proc. IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
organization = {IEEE},
}available here .
Tutorials
- How to set up hector_slam for your robot
This tutorial shows you how to set frame names and options for using hector_slam with different robot systems.
- How to build a Map Using Logged Data
This tutorial shows you how to create a 2-D map from logged transform and laser scan data.
Report a Bug
Use GitHub to report bugs or submit feature requests. [View active issues]