Différences

Ci-dessous, les différences entre deux révisions de la page.

--- lissi:rosslam [2013/11/27 16:07] – modification externe 127.0.0.1
+++ lissi:rosslam [2014/01/15 11:44] (Version actuelle) – aurelien.hazan
@@ Ligne 1: / Ligne 1: @@
-=====SLAM =====
+=====SLAM: Self Localization and  Mapping =====
+**Prerequisite:**
+  * get a running catkin environment.
+  * check your environment variables.
+  * check the necessary topics are up and running (''cmd_vel'', ''laser'', ''tf'',...)
+  * [[ROSLaserFilter|Filter]] the LaserScan if necessary.
+  * Run: roscore and robot drivers and scripts.
+----
+==== gmapping ====
 Even without having a map of the environment, we can create one on-the-fly, thanks to
 [[http://wiki.ros.org/slam_gmapping/Tutorials|SLAM]] (Self Localization and Mapping).
@@ Ligne 27: / Ligne 38: @@
 Then, launch ''rviz'' and see the result, published in topic ''/map''.
+----
+==== Hector Slam====
+  * This [[http://wiki.ros.org/hector_slam|metapackage]] is part of the [[http://wiki.ros.org/tu-darmstadt-ros-pkg|TU Darmstadt]] repository.
+  * To install it in Debian/Ubuntu:  <WRAP box 350px>''sudo apt-get install ros-hydro-hector-slam'' </WRAP>
+  * For mapping, we're intested in the [[http://wiki.ros.org/hector_mapping|hector_mapping]] package.
+----
 ====Working offline with a "bag" of data====
 One may need to first record the data before computing the map. That is possible, with a "bag".