How to Mark a detected victim in hector slam
hi, I want to know how i can mark a detected victim in map, using hector_slam... can any one help me?
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asked 2013-03-16 02:34:01 -0500
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hi, I want to know how i can mark a detected victim in map, using hector_slam... can any one help me?
answered 2013-03-18 22:51:06 -0500
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Mapping objects of interest can be performed using the hector_object_tracker framework, which is independent of the SLAM system that is used to generate an environment map. It keeps track of objects of interest and using plugins for hector_geotiff, these can be added to generated geotiff maps. We haven't added comprehensive documentation for that yet, but looking at a example setup might be enough. A simulation scenario can be started as described here. Note the hlugv_worldmodel_all.launch that is launched there. This in turn launches the object_tracker.launch launch file, that sets up the object_tracker. A confirmed victim can then be added using a service call like in this example. When a GeoTiff map is saved, this added victim will also be plotted into it as the necessary plugins for doing that have been loaded using hector_geotiff.launch.
/edit: Since this answer has been originally posted, the object_tracker has been renamed to hector_object_tracker, so this change will also have to be reflected in launch files using it.
Thank you for your response... I will consider your notes as soon as possible and i will be grateful if i can help you in completing this part of documentation of tu-darmstadt-ros-pkg.
answered 2013-03-18 14:15:47 -0500
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Although not sure if this helps, and yet not available and for GPS
only, I'm making an rqt_gps
, an rqt plugin that plots GPS
positions. Discussion about feature is happening and I'm planning to test with hector
.
We're currently only writing very basic information (see http://www.robocuprescue.org/wiki/images/GeoTiff.pdf) into the .tfw file associated with the .tif, so that probably will not be very useful for testing your GPS package.
The links that you have given is too OLD and its not working any more please help me I have the same problem as he asked in 2020!!
Asked: 2013-03-16 02:34:01 -0500
Seen: 1,687 times
Last updated: Apr 17 '14
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