How does `hector_mapping` build the coordinate system?
Now I want to know the localization accuracy of hector_mapping, so I need to measure the actual position of the robot and compare it with the position of hector_mapping
publish on slam_out_pose
. As far as I know, after the cartographer starts, the direction in which the robot advances is defined as the positive direction of the x-axis, and then based on this coordinate system, the position information of the robot is output. Is hector_mapping
based on such a mechanism to establish a coordinate system? If not, what is the `hector_mapping based on to establish the coordinate system?