hector_mapping¶

Contents:

Summary ¶

hector_mapping¶

BuildtoolDepends:
Version:	0.3.4
Description:	hector_mapping is a SLAM approach that can be used without odometry as well as on platforms that exhibit roll/pitch motion (of the sensor, the platform or both). It leverages the high update rate of modern LIDAR systems like the Hokuyo UTM-30LX and provides 2D pose estimates at scan rate of the sensors (40Hz for the UTM-30LX). While the system does not provide explicit loop closing ability, it is sufficiently accurate for many real world scenarios. The system has successfully been used on Unmanned Ground Robots, Unmanned Surface Vehicles, Handheld Mapping Devices and logged data from quadrotor UAVs.
Maintainers:	Johannes Meyer <meyer AT fsr DOT tu-darmstadt DOT de>
Licenses:	BSD
Urls:	website<http://ros.org/wiki/hector_mapping>
Authors:	Stefan Kohlbrecher <kohlbrecher AT sim DOT tu-darmstadt DOT de>
BuildDepends:	`cmake_modules` `roscpp` `nav_msgs` `visualization_msgs` `tf` `message_filters` `laser_geometry` `tf_conversions` `eigen` `boost` `message_generation`
	`catkin`
BuildExportDepends:
	`roscpp` `nav_msgs` `visualization_msgs` `tf` `message_filters` `laser_geometry` `tf_conversions` `eigen` `boost` `message_runtime`
ExecDepends:	`roscpp` `nav_msgs` `visualization_msgs` `tf` `message_filters` `laser_geometry` `tf_conversions` `eigen` `boost` `message_runtime`

hector_mapping/HectorIterData¶

Field:	hessian[9] (float64) – conditionNum (float64) – determinant (float64) – conditionNum2d (float64) – determinant2d (float64) –

float64[9] hessian
float64 conditionNum
float64 determinant
float64 conditionNum2d
float64 determinant2d

hector_mapping/HectorDebugInfo¶

Field:	iterData[] (hector_mapping/HectorIterData) –

HectorIterData[] iterData