RPLidar and Hector SLAM for Beginners | ROS Tutorial #8

[@prandtlmayer]

I enjoyed making the video. Looking forward for more tutorials

[@panchampatel1]

Hi Tiziano, First I like to say thank you for making awesome videos. I just bought my RPLidar. I want to mount it on my drone. Fly it around and detect and map things. I have Tatot Hexacopter and Nvidia Jetson. But I don't know where to start. Any advice please.

[@265Engineer]

thanks for vid, i really liked it, i just bought a RPLidar and i want to attach it to a drone for agriculture purposes, such as topography mapping can this be done ?.

[@265Engineer]

i wanted to integrate it with an arduino uno

[@manojguha2046]

Thanks for the video. I bought the RPlidar A1 recently and was able to make a map of my room successfully.

[@prandtlmayer]

Nice work! Feel free to post here a link to your videos and share your work

[@nrdesign1991]

This is incredible. The fact that you can get this software for free is even more awesome.

[@MrMiguelamaral]

Many thanks. I´m a civil engineer and was able to do the same with RPLidar A3, the results are much better with this model. Now to export to CAD file :P

[@danilomammarella6614]

Please could you give us a link to your project with A3 ?? Many many thanks

[@MrMiguelamaral]

@@danilomammarella6614 If you are working on this too, maybe we can team up =)

[@danilomammarella6614]

@@MrMiguelamaral sure! Now I'm waiting for the RPLidar A3.. I've just sent you an invite from Linkedln ;)

[@danilomammarella6614]

@Tiziano Fiorenzani aiutaci tu (genuflessione a mani levate in alto) :DDD

[@vicradon]

Can I see the 3D file output

[@thiagodasilvacastro5966]

Hi, nice tutorial. It realy helped me to get start with the RPLidar. A thing I noted when you explained the changes in the "tutorial_tif.launch". You had show a change in the line 8, but there is a change in line 13 too. You had to change the old name "mapping_default.launch" to the filename you created "mapping_tif.launch". It was in the minute 8:05, it already has the new filename. I did it here and worked very well. Thanks for the excelent video

[@prandtlmayer]

sometimes I make little changes from the time I record to the editing. no time to record it back. thanks for noticing

[@keerthimohit]

​@@prandtlmayer Thanks for the video its really helped me alot to get hands on. Now i can able to visulizae the data from RP Lidar. But i'm getting the error as mentioned below in my google drive. drive.google.com/open?id=1_M7LqcdfeeL_KdA3ZgjwPArMbFYNmTvr Please help to resolve the issue, which will help me to complete my theis work. Thanks in advance

[@nafisahmed6247]

Great tutorial, I almost slept reading through the ROS wiki. Videos are so easy to understand. Looking foward to a tutorial for autonomous navigation with slam on rasperry pi.

[@prandtlmayer]

Documentation is inevitable, yet I slept too

[@pranav398]

Thank you for such a valuable video!! We will keep learning, please dont stop posting.

[@cesarhcq]

Hi! It's important to say that if you rotate the Lidar fastly in one axis -- you can have problems for mapping, occasionally it's happens when you have a diff drive robot. Great video!

[@prandtlmayer]

I did notice that

[@prandtlmayer]

I did notice that. You need to move smoothly and not rotate much

[@debug561]

Hello sir, in 7:50 I cloned file mapping_tif.launch and file tutorial_tif.launch, but after I catkin_make, 2 new files aren't generated. Please help me, thank you sir !

[@sarmadbaig7]

could you explain why you set the parameter to zero at 7:53, what if lidar is not place at centre. do i have to change it accordingly?

[@gabip265]

You are a blessing! Beautifully explained and to the point.

[@maszih]

Amazing video! where is the donate button - one question how can we export the map to point cloud data .PCD because i want to use it in Autocad to generate an accurate floor plan.

[@nouhamazouz4329]

Please help me ERROR: cannot launch node of type [hector_mapping/hector_mapping]: can't locate node [hector_mapping] in package [hector_mapping] What shall i do ? :(

[@arturosan010]

Im getting the same error. Im guessing you have to make a package. But i am lost as to which one. The hector slam mapping one maybe?

[@arturosan010]

my mistake. the problem is in the sourcing of the file. you have to source it properly. once i did, it started right up.

[@prandtlmayer]

I am glad you figured it out. 80% of the learning curve is fixing bugs. If someone else was to fix them for you you would learn nothing

[@efrainvgl]

How solve this?

[@prandtlmayer]

Source the file in your catkin workspace /devel/setup.bash

[@lierkiboy1736]

I was followed your this tutorial for build the map using same sensor as you used, but then when i started hector_slam my map wont generate correctly as i move the lidar in diferent position the obstacle change position to, can u help me?

[@dingheng1998]

Whenever I start the hector map, there will be an error of "cannot launch node of type [hector_mapping/hector_mapping]: can't locate node" along with [hector_trajectory_server] , [hector_geotiff] as well, is there any fix for this?

[@ericchen7026]

I think you forgot to catkin_make after you installed Hector Slam

[@kuttaydybacho]

Please help me ERROR: cannot launch node of type [hector_mapping/hector_mapping]: can't locate node [hector_mapping] in package [hector_mapping]

[@ericchen7026]

I think you forgot to catkin_make after you installed Hector Slam

[@quocvan-s6b]

why did not my rviz show anything when I run the command line "roslaunch hector_slam_launch tutorial_tif.launch"?

[@soumitradey8208]

Hii Can you please help on navigation using the saved map in map server by hector slam, need your help ! Thanks a lot. Best wishes

[@mertcapkin7263]

Exactly what I was looking for! Thanks

[@susantasharma]

Thanks a ton. This way really worked.

[@Kumarswamy_Hosmath]

Hi, is there a ready kit available for mapping indoor spaces?

[@Hanan-qz8ms]

Hello, I would like to ask if this method work also with rplidr c1 .. please help me 🙏🏻🙏🏻

[@joelevander27]

Can u use the slam for 3d lidar lslidar? Im working on project AMR but still confused with the 3d slam

[@tvforsbach]

First of all thank you for these amazing videos which helped me a lot! I have a similar project right now: I want to install the RPLIDAR A1 on a little car and connect it with a raspberry pi 3. I want to start the scan from my laptop and visualize the map with Rviz. So i use this order of steps: - start roscore on my laptop - tell pi that the laptop is the master (export ROS_MASTER_URI=) - define my pi as a talker and laptop as listener (rosrun rospy_tutorials talker.py) - start Rplidar - than i type "rosrun tf static_transform_publisher 0 0 0 0 0 0 map scanmatcher_frame 10" I did this because I was getting the warning "No transform between frames /map and scanmatcher_frame available after 20.002338 seconds of waiting. This warning only prints once." - start hector slam. When i start hector slam, Rviz opens but the map is empty and the terminal gives me the following info: "lookupTransform base_frame to laser timed out. Could not transform laser scan into base_frame.". Do you know what i'm doing wrong because when i connect the Lidar directly to my laptop everything works fine as in your video. I sourced after every new shell and i also used everytime the "export ROS_MASTER_URI"-command. Greetings

[@prandtlmayer]

Have you tried running the master on the Pi? Besides some tf broadcast that might be missing (check whether that is the case) I once had a similar issue when I was playing data back from rosbag, due to a time issue

[@tvforsbach]

@@prandtlmayer The time issue was the problem! My Pi has a delay of about 5 hours to the laptop. I synchronized both and now everything is working. Thanks a lot for your quick response and i'm looking forward to the next great video of you!

[@priyanshurai9614]

I'm getting an error that says "Fixed Frame[map] does not exist" With the message saying "No map received". What should i do?? Also, the terminal is saying cannot locate node of type hector_mapping in package hecktor_mapping.

[@hardyojeda2934]

I`m new in ros, and i try to do this tutorial using a X2ydlidar, but when i launch the tutorial file i see this en rviz " Fixed Frame [map] does not exist " and the program doesn`t work . What can i do to fix it ? th

[@noahhaber]

Hi Tiziano. Thank you for the video. Unfortunately when I follow the steps the output in my terminal reads ‘lookupTransform base_link to laser timed out. Could not transform laser scan into base_frame.’ Do you know how I could fix this problem? Thank you

[@prandtlmayer]

I have had this issue when I did reply from a rosbag, nt directly. This comes from the time being off

[@prashamsoni6697]

@@prandtlmayer how can you solve this?

[@johnk1695]

2:22 I did find the driver in ny device manager but when I double click on it, it goes to "properties". I dont know how to reach the mapping interface. Please help

[@prandtlmayer]

You don't click on it, just note the com port

[@geronimomacias5523]

@Tiziano Fiorenzani I have followed your tutorial for the setup of the RPLidar A1, but when I type "roslaunch rplidar_ros view_rplidar.launch" onto the terminal I get an error message saying that scan mode "sensitivity" is not supported by the lidar. I have done some investigating into the matter and one of the suggestions was to edit the launch file, however the view_rplidar.launch file does not contain lines regarding the scan mode. Because of the error the rviz gui does not show anything. Any help would be greatly appreciated.

[@siddhantandure3741]

Hello sir I successfully created map using hector slam now i want to localise my robot in that created map only using laser scan and hector slam can guide me how can i do that?

[@thangduong8799]

how can I use Scan_matching with this HECtor-slam pakage bro???

[@yasirsalam1573]

Hello, I am using it on my ros robot, I followed the all steps, but it says For frame [laser_frame]: Fixed Frame [map] does not exist

[@stanjohnsuab]

Thanks Tiziano for sharing the knowledge. I wonder how the SLAM points can be geotag for outdoor mapping then the data be integrate into GIS software.

[@prandtlmayer]

Good question! In theory you might be able to, but I am no expert on that

[@dining313]

Love your shirts, your video, and definitely your project!!!

[@prashamsoni6697]

hii @tiziano amazing work but i hv a query , i can run the slam with a bag file but not in real time what shall i do?

[@aidenshabka2430]

Could you do a video of putting the RPLidar on a servo to allow 3D mapping? Thanks

[@prandtlmayer]

Nice Idea

[@danyarRobotics]

Thanks for your explanations I found it very useful but I have some problems when I download the hector slam file I can not find the tutorial tif launch file please I need help thank you for your help

[@nurullahsahin5887]

please help i am geting error ls: cannot access '/dev/ttyUSB0': No such file or directory i using slamtec lidar m2m1

[@denzelpolantika2189]

Did ever have an error that said " Can not start scan: 80008000!"? Help please.

[@kazimafzal]

Thanks for the great video!! Quick question - can you use this for 3D SLAM -- say mount the RPLIDAR on a plate (on top of a drone), connected to motor shaft that bobs between 45 and 315 degrees to produce a 3D map of its environment?

[@neoxherrera6577]

How can I prevent a broken map? I'm using rplidar A1 and the setting showed in this video, Thanks so much

[@prandtlmayer]

Moving slowly and avoiding rapid turns

[@prashamsoni6697]

@@prandtlmayer hii i can run the hector slam with bag file but cant run in real time could you help me out?

[@masseteilchen3000]

Awesome as always! Thank you!

[@khiemng2409]

This video is all my needs :3 thank you

[@ntd252]

chào bạn. bạn chắc người Việt phải không? Mình đang làm đề tài về SLAM và cũng vài thắc mắc. Nếu không phiền mình có thể liên hệ với bạn để trao đổi được không?

[@thalanayarmuthukumar5472]

@Tiziano Fiorenzani - Nice video tutorial. What part of the software runs on Raspberry Pi and what part runs on Ubuntu laptop?

[@prandtlmayer]

The slam part runs on my laptop

[@nakawung]

Can you please give me the name of your framegrabber application please?

[@davidvilchis704]

Hi, that was useful, so this instructions can work in order tu use RPLIDAR A3M1? Im still without making it move

[@prandtlmayer]

You might want to check whether they have a dedicated package for that. To the other ROS nodes nothing changes

[@Tio_Sam00]

I really didn't understand how to install the Lidar program on ubuntu.... I went on the link... but still too confusing

[@fpvnafret]

This is very nice, thanks for sharing. I have a question, the RPLIDAR can be used to make a 3D model if using it a vertical position while walking in a hall, and if its posible, can be done with HectorSlam?

[@shubhamcyborg9218]

Plz ...make tutorial to control dynamixel servo motor.....or suggest best platform for learning it .......

[@prandtlmayer]

Well, those servo are expensive and I kind of need to find a supplier who supports the channel as Robotshop did

[@shubhamcyborg9218]

@@prandtlmayer ya that's right but may be ax-12 is affordable .......btw your tutorial are always awesome 👍they really helped a lot

[@gabriel3382]

Hi and thanks for ur video, well explained, do u have an idea where to add the IMU datas to fuse with hectorslam and get better orientation estimations ?

[@jacobsmith9620]

Hi there, very good video, thank you! I used it sometime ago. But now, I'm working on a humanoid /biped. Does the same thing apply or should I leave it as it was before your editing? Thank you in advance.

[@best_pilot]

Hello, do you have an advice, if the device manager is not showing this required port ? Thanks very much in advance !

[@drvlog4285]

hey thanks for the great video. Have you done the same SLAM with the lidar lite v3?

Good Video, Currently I'm working with a RPLidar A2, but I couldn't open the frame grabber aplicattion. Could you help me?

[@yonghaoliang1790]

Hi Tiziano Fiorenzani, may I know where did you get the Framegrabber application? The one i am currently using is always showing "Unable to bind to port" even though i selected the correct port based from the Device Manager setting

[@prandtlmayer]

There is a link in the description

[@XxDnvnPlmrxX]

I am on a mac running virtual box (ubuntu latest) and am having trouble with the 'sudo chmod 666 /dev/ttyUSB0', it saying the file or path does not exist. Does it matter to which of the 4 USB-C ports on my mac i plug my lidar to? when i roslaunch rplidar_ros package, the rviz does not show my lidar scan. please send help!

[@prandtlmayer]

I am not a Mac user. check what is the available serial port. in Linux is ls /dev/tty*

[@nikhilsrinivas709]

Hi Tiziano, do you have a similar video for the RPLIDAR S1?I would be grateful,if you could tell me a good source I could follow for that module.

[@prandtlmayer]

Sorry, no

[@jarvis5531]

how to interface hector slam and rplidar with values in raspberrypi. please help me to get out of this sir

[@tocoviperez]

in the last part i just recive this msg RLException: [tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name The traceback for the exception was written to the log file

[@andreif7777]

Does anyone know why after installing the drivers, there is no port found in the ports section in device manager?

[@octaviomuniz4974]

Any luck resolving this issue? The same thing is happening to me after installing the driver, no port appears.

[@mishagunter]

Hi, I'm trying to understand the principle of operation of hector_slam. Please, give links, where I can see more information about this algorithm. Thanks!

[@prandtlmayer]

Are you referring to the package or to SLAM in general?

[@mishagunter]

@@prandtlmayer I mean hector_slam, how does it calculate the position?

[@emmsace]

great tutorial! is it possible that we could integrate this with an RPLIDAR A2 and add our own pathfinding algorithm with it?

[@prandtlmayer]

I suppose so

[@kuttaydybacho]

[tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name The traceback for the exception was written to the log file Can you help me to solve this please

[@osvaldofloresgarcia6256]

Please help me , when catkin_make im ocurred this error CMake Error at /usr/share/cmake-3.10/Modules/FindQt4.cmake:1320 (message): Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x Call Stack (most recent call first): RPLidar_Hector_SLAM/hector_slam/hector_geotiff/CMakeLists.txt:12 (find_package)

[@prandtlmayer]

it sounds like this: answers.ros.org/question/291892/buildfarm-melodic-build-with-qt_gui_cpp-dependency-doesnt-install-qtbase5-dev/

[@minhvo5267]

How can i move my robot in rviz. Help me

[@kaziavanto3148]

from hector slam can i get the data by which it creates the room floorplan? here in your picture i can see the black dots which represents the wall. From hector slam can i get the value which represent these black dots? I am planning to detect the corner, is there any way that i could detect the corner?

[@prandtlmayer]

There should be multiple sources for that. You can detect them by the shape but there are also approaches that use neural networks

[@kaziavanto3148]

@@prandtlmayer I am so grateful that you replied. In a project i have to find the room's floor plan and room surface area( length and width) using Rplidar A2. For floor plan I am planning to use Hector SLAM and for surface area, one idea could be, to create a 2D point cloud and from that point cloud i have to find the corner somehow(i dont know how i could find the room corner). If i can find the room corner i could easily find the distance from one corner to another. Could u tell me how can i proceed? can you please enlighten me with some idea by which i can achieve both the floor plan and the surface area? I will be forever so grateful if you could help me regarding this issue.

[@N3tech]

what is the application you run after installing the driver? It just seems to be pull out of no-where and I can't find it... Thanks!

[@prandtlmayer]

It's the SDK, you find the link in the description

[@musicjust5227]

@@prandtlmayer can I ask you something? After installing the driver when i tried to do the work, it says 'Cannot bind to the specified port'. Do you know why this happened? And how can i solve this problem? Thank you in advance

[@hansbyager5795]

My rviz gives a strange error from this, that the fixed frame map does not exist, do you have any clue why? I followed the steps with hector slam, but the rplidar was preinstalled on my pi

[@prandtlmayer]

That sounds like a tf problem

[@sahasagarwal7184]

Hey. I have a doubt. I need to get the lidar position values from hector slam.When I run the tutorial.launch file, I see a topic called "slam_out_pose" which publishes these values, but I can't seem to figure out how to write a subscriber for it. Could you help me out here? Thanks.

[@prandtlmayer]

Start over by just echo the topic and check you have the data. Use my subscriber example on GitHub and subscribe to the /laser topic

[@ivangification]

Hi, nice video bro! But i have a problem, my rplidar A1 is not scanning, when i follow your instructions on windows it doesn't show me the distance information, it is just displaying the 360 degrees picture on the frame grabber, my lidar is spinning but the grabber says it is 0 Hz (0 rpn)

[@prandtlmayer]

It looks that is not reading any packets

[@ivangification]

@@prandtlmayer Ohh ok ok you know how to solve that?

[@ayashkantavtar3335]

Sir i m new to Slam and doing hector slam using raspberry Pi 3 with utiquity robotics Ubuntu ros ..but unfortunately I got the this error can anyone help me??

[@charleswolfe6849]

Could you provide us with a bag file so that we can try to experiment with this if we don't yet have an RPLidar?

[@prandtlmayer]

That is a good idea, I shall collect some

[@Adroitbit]

So....how to do navigation after this? I can save the map. But still don't know what to do next.

[@prandtlmayer]

I am working on the navigation video

[@Adroitbit]

@@prandtlmayer I'll wait for that.

[@chelmartin]

Great Video Thanks... Question, I am using the same model RPlidar as you are but get a " started core service [/rosout] process[rplidarNode-2]: started with pid [6604] process[rviz-3]: started with pid [6605] [ INFO] [1591737781.112395048]: RPLIDAR running on ROS package rplidar_ros. SDK Version:1.12.0 [ERROR] [1591737783.970103291]: Error, operation time out. RESULT_OPERATION_TIMEOUT!" after running roslaunch command. Do you thing its a RPLIDAR problem? I checked the USB permission etc already.

[@prandtlmayer]

Sounds like a connection issue, any luck since your question?

[@chelmartin]

Good morning..yes actually it was the device. I returned it for a replacement and it worked. Thanks.

[@thenguyenquoc794]

please help me : when i run rviz it error : segmentation fault (core dumped) how i can fix it, install ubuntu 18.04 (not ubuntu mate) and ros melodic and vnc viewer to monitor. is it ok? and now how to fix this problem ???

[@prandtlmayer]

This sounds more of a question for the ubuntu forum, sorry

[@bilgehantas]

how can i find catkin_ws file?

[@prandtlmayer]

You need to setup the environment, follow other videos in the playlist

[@luiscadenacampos7884]

Hi, I tried this tutorial and it worked correctly, but when I try to re-run the statement: RLException: [view_rplidar-launch] is neither a launch file in package [rplidar_ros] nor is [rplidar_ros] a launch file name The traceback for the exception was written to the log file roslaunch rplidar_ros rplidar.launch from catkin_ws I get the following error: RLException: [view_rplidar-launch] is not a launch file in the [rplidar_ros] package nor is [rplidar_ros] a launch filename. The exception trace has been written to the log file. What can I do?

[@prandtlmayer]

Did you build and source?

[@nicolascamaratta]

yes @@prandtlmayer

[@dakamy2075]

Hi! I want to know which raspberry pi were you using for this, and also which version of ubuntu pls

[@prandtlmayer]

Ubuntu 16

[@KennyxD209]

Hi! I really like this video! It's very helpful!! I was wondering if you happen to know how to configure the scan frequency of the RPLidar? I saw in the Slamtec website that it can be up to 10Hz. However, I can't find out how to configure it. Thanks!

[@prandtlmayer]

I don't remember exactly, but it should be possible through the windows application or through a command through serial port

[@briancalderondiaz362]

Great tutorial ! I'm trying your program on an Odroid XU4 ...the solution works very well until I turn the rplidar A1 on the Z axis. The detection is affected and the map also starts to turn in the same direction.

[@prandtlmayer]

yes, turning is something he doesn't like. try to keep the unit absolutely flat and rotate slowly

[@razanayaz5376]

hi, if I want to run roslaunch rplidar_ros at standard mode, then how can I do so?

[@prandtlmayer]

I don't think I follow you

[@kashifnoori6834]

A very good and precise tutorial! I have a question though: Which one will be better Gmapping or Hector Slam for indoor navigation a differential wheeled robot?

[@prandtlmayer]

I haven't compared them yet. Will be part of a future work.

[@kashifnoori6834]

Would be eagerly waiting for it!

[@kuttaydybacho]

Please help me [tutorial_tif.launch] is neither a launch file in package [hector_slam_launch] nor is [hector_slam_launch] a launch file name The traceback for the exception was written to the log file

[@harshitkumawat3199]

same error dude did u resolved it ?

[@makeradd3494]

These are great. I got the lidar showing info in rviz but after downloading hector slam catkin_make fails. Any ideas?

[@prandtlmayer]

No, what does it say?

[@makeradd3494]

@@prandtlmayer Thanks for your reply! Your videos have been a big help. This is the error when running catkin_make after downloading hector slam. ......... -- +++ processing catkin package: 'hector_geotiff' -- ==> add_subdirectory(hector_slam/hector_geotiff) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy qmake: could not find a Qt installation of '' CMake Error at /usr/share/cmake-3.13/Modules/FindQt4.cmake:1313 (message): Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x Call Stack (most recent call first): hector_slam/hector_geotiff/CMakeLists.txt:12 (find_package) -- Configuring incomplete, errors occurred! See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed

[@makeradd3494]

@@prandtlmayer Thanks for your reply! Your videos have been a big help. This is the error when running catkin_make after downloading hector slam. ......... -- +++ processing catkin package: 'hector_geotiff' -- ==> add_subdirectory(hector_slam/hector_geotiff) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy qmake: could not find a Qt installation of '' CMake Error at /usr/share/cmake-3.13/Modules/FindQt4.cmake:1313 (message): Found unsuitable Qt version "" from NOTFOUND, this code requires Qt 4.x Call Stack (most recent call first): hector_slam/hector_geotiff/CMakeLists.txt:12 (find_package) -- Configuring incomplete, errors occurred! See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/pi/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed

[@makeradd3494]

​@@prandtlmayer Started with fresh Ubuntu and same error. Found unsuitable Qt version. Any help would be amazing

[@prandtlmayer]

I have never seen that error before. Have you posted on the package repo page?

[@arturosan010]

Did you read the ticks from the wheel encoders of your robot?

[@prandtlmayer]

No, I don't have any encoder. That would help

[@arturosan010]

@@prandtlmayer you got the ros navigation stack working without wheel encoders? How does it know how far it has moved?

[@prandtlmayer]

That's why I used that Slam algorithm, that doesn't require encoder reading

[@jeusmazom2371]

great video thanks. keep it coming !

[@hoverschmoover]

My Global Status provides a warning statement, stating that there 'Fixed Frame' has no TF data; Actual Error: Fixed Frame [laser] does not exist. Anybody knows how to resolve this?

[@prashamsoni6697]

same issue how did u solve?

[@fpvnafret]

Thanks for this video, I love it. I have the A3 model, I have a question, can be de Héctor slam use for 3D mapping?

[@prandtlmayer]

Not with the laser alone. You need something for the Z.

[@fpvnafret]

@@prandtlmayer I was thinking to put the RPlidar in vertical position so then the laser can be in vertical orientation then just by moving in a hall or cave can be just scanning in the Y axis and just creating the map while moving...

[@MegaNickwilliams]

Hi, I've followed the tutorial through to running the hector slam launch file, but i'm getting an error reading as: Invalid tag: hector_geotiff ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/opt/ros/kinetic/share. Arg xml is The traceback for the exception was written to the log file if it helps when I typed the grep ttyUSB line all that was returned was 'ttyUSB0' I'm new to the subject and any advice as to my error would be appreciated, thanks.

[@prandtlmayer]

Did you chmod the USB port?

[@prandtlmayer]

Did you source the environment?

[@cekuhnen]

Dou have a tut on a diy lidar for 3D room scanning walls + ceiling/floor ?

[@prandtlmayer]

Not yet

[@cekuhnen]

Tiziano Fiorenzani do you have any tip for new comers like me where to look? I teach. Interior design and am looking for a cheap Lidar based hardware software solution to digitize interior spaces so i can create a 3d cad model.

[@prandtlmayer]

Not an expert on that, I really can't tell

[@tsaran7898]

Kindly make part 2 of it. SLAM

[@cyd0c505]

Hey, Can I use the makeshift lidar that you made the previous video for SLAM like that?

[@prandtlmayer]

The update rate would be too slow for any real application, but in principle you could

[@001gavnuk]

@@prandtlmayer But what if you increase the TFMini plus update rate to 1000 Hz?

[@prandtlmayer]

It depends how slow you move, I'd say you can try

[@MartinWolnik]

how to install RVIZ

[@mannythehunter]

Can you tilt this and do a full 3d maping? or just 2d? Really interesting

[@bruttherjoelim3882]

first understand what a plane is

[@farhanharoon6546]

Will this package run on ROS2 Humble??

[@prandtlmayer]

No it won't. ROS2 has a completely different syntax. You can either adapt the source code or use a ROS1 bridge

[@farhanharoon6546]

@@prandtlmayer will the same python source code run on Ros 2, of course with ROS2 specific commands?

[@exclibrion]

Is it possible use hector slam for ultrasonic sensors?

[@prandtlmayer]

I would not recommend, as they are insanely low resolution, but, in theory, yes

[@higortizatto4282]

have you used ros and vrep?

[@RenzoPastores]

hi i am trying to do this with rpi and pc. i have tried to attached the lidar to the rpi and was able to see the /scan topic from rpi to pc but when i run rviz on my PC there's an error for the /tf "No tf data. Actual error: Fixed Frame [map] does not exist" please help me im doing this for my thesis

[@prandtlmayer]

You need to select on top the reference you use for the Lidar, otherwise you need to provide a transformation from your frame to map

[@RenzoPastores]

@@prandtlmayer Thanks I've already solved this. i accidentally cloned wrong hector_slam package I thought i've cloned the already edited hector_slam but i was wrong

[@RenzoPastores]

@@prandtlmayer Your video is very helpful a big thanks to you! I was able to use on my research project I've tried it on Rpi and the scanned data will be passed thru LAN by setting the Rpi as the master for ROS

[@thenguyenquoc794]

how can i change samle to 8000 ? i run hector slam it is not accuracy if i change the angle of lidar the map is error, how to fix it? can i use imu to improve map?

[@prandtlmayer]

You can change the sample rate, there should be an option on the lidar. If you have more sensors I'd give a shot to Cartographer

[@duytoanoan2479]

bác cho em hỏi với, sao em cài cái driver mà nó không nhận vậy

[@thenguyenquoc794]

@@duytoanoan2479 mô tả rõ hơn dc ko?

[@ommslab]

Very useful tutorial, thank you. Could you please make a tutorial on how to integrate Hector slam with amcl location. Many thanks.

[@prandtlmayer]

The particle filter uses information coming from your odometry, while Hector SLAM can run even without it.

[@ommslab]

@@prandtlmayer Thank you for the reply. In first stage I have generated a map following your tutorial using hector slam. In second stage I can send the map to the amcl localisation. Now, the amcl requires odometry just as you mentioned. So I am hoping to run the amcl and hector slam simultaneously. But this time hector slam will not be used for mapping, it will just provide the odometry data which in turn will be fed into the amcl module. I can subscribe to the /odom topic in hector slam and get the data, but now I am looking for some direction on how to send this odom data to amcl. Hopefully you would be able to help.

[@soumitradey8208]

Thanks a lot i was looking for this. Excellent explanations. Looking forward to navigation go to goal and how to integrate same with ROS arduino motor control to move robot. God bless you. Regards