Documentation Status

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_nav_msgs | hector_slam_launch | hector_trajectory_server

Package Summary

Documented

hector_slam contains ROS packages related to performing SLAM in unstructed environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_nav_msgs | hector_slam_launch | hector_trajectory_server

Package Summary

Documented

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

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server

Package Summary

Documented

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

hector_slam: hector_compressed_map_transport | hector_geotiff | hector_geotiff_plugins | hector_imu_attitude_to_tf | hector_map_server | hector_map_tools | hector_mapping | hector_marker_drawing | hector_nav_msgs | hector_slam_launch | hector_trajectory_server

Package Summary

Released Documented

The hector_slam metapackage that installs hector_mapping and related packages.

  • Maintainer status: maintained
  • Maintainer: Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
  • Author: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>, Johannes Meyer <meyer AT fsr.tu-darmstadt DOT de>
  • License: BSD
  • Source: git https://github.com/tu-darmstadt-ros-pkg/hector_slam.git (branch: catkin)

Documentation

Documentation is available for each package as linked above. The main packages are:

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

  1. 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.

  2. 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]

Wiki: hector_slam (last edited 2014-04-17 08:17:01 by StefanKohlbrecher)