This repository serves as the SLAM module of the quadrotor-blimp project. We are using the LiDAR sensor product LD06 of ldrobot that operates at 10Hz for 360-degree scans.
- SLAM method: Hector-Mapping
- input: LaserScan
- Dependency:
- ROS-noetic
- Hector mapping:
sudo apt-get install ros-noetic-hector-mapping
- Clone and prepare the src:
cd $YOUR_ROS_WORKSPACE/src
git clone https://github.com/Jarvis-X/qb-SLAM/
cd ..
catkin_make
roscd hector-mapping/launch
- We need to change something in the launch file
sudo $YOUR_FAV_TEXT_EDITOR mapping_default.launch
- Change the default argument "base_frame" into
<arg name="base_frame" default="base_link"/> <!-- was "base_footprint" -->
- Change the default argument "odom_frame" into
<arg name="odom_frame" default="base_link"/> <!-- was "nav" -->
- Go to the last line before
</launch>
: it is commented out. Change that into<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 base_link lidar_frame 100"/>
- Change the default argument "base_frame" into
- To run:
- make sure the usb port the LiDAR sensor is using has writting permission. If any problems encountered, check README_LiDAR.md
roslaunch qb_slam run_qbSLAM.launch
- odometry integration with Hector-SLAM