Comments (5)
No, this is currently not possible. With some effort some sort of moving map functionality (either growing map tiles behind the scenes or copying around maps in double buffer fashion) would be possible, but there currently are no plans to implement this from my side.
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Thank you Stefan. At the moment, I'm using a huge map and periodically clearing out the old cells far from the robot. This does have a drawback of using up a lot of RAM. A moving map may not be so practical to do in realtime -- probably the concept of submaps is better
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You could give hector_mapping2 a try. The package implements the same algorithm as hector_mapping in this repo, but it also supports tiled 2D and 3D maps. It is not very well tested, so do not expect good and stable results with the current development version.
As with hector_mapping, the map origin is the initial pose of the robot when mapping was started, but the map grows as soon as a laser scan reaches the current boundaries. Not sure if the current costmap_2d package in the navigation stack can handle this - at the time I was working on hector_mapping2 I needed a patched version to allow for map size changes.
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Cool will check it out. Thanks
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how can i use this package ?
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Related Issues (20)
- Cannot locate node of type [hector_mapping] HOT 1
- Restart mapping with new pose service not in the melodic branch.
- frame namespace for base_link not working
- Mapping Only Mode using Ground Truth Pose
- map origin unit issue
- Resource not found error, please help
- Is there a way to install qt4 on ubuntu 20.04 HOT 1
- hector_trajectory_server exporting trajectory ?
- Why can't I create new file .launch?
- License
- Error has occurred while running 'roslaunch hector_slam_launch tutorial.launch' HOT 4
- Create service that manages hector's functions
- Cache static tf transforms from base to lidar frame(s) at node startup HOT 3
- undefined reference to `tf2_ros::TransformListener::TransformListener(tf2::BufferCore&, ros::NodeHandle const&, bool)' HOT 10
- Hector Slam metapackage not available for Noetic through apt? HOT 2
- Saving Geotiff map issue HOT 3
- Pointcloud is not directly on the built map HOT 1
- hector_slam with own laser data (only /scan data, no /tf)
- About playing rosbag in the tutorial HOT 1
- About using hector_slam can not display the map problem HOT 1
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