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]