- Dockerhub image https://hub.docker.com/r/cognimbus/hector-mapping
- Supported architectures arm64/amd64
- ROS version melodic-ros-core
- 2D laser scan mapping using Hector mapping algorithm (high resolution map) git: https://github.com/cognimbus/nimbus.library/tree/master/Library/Components/hector-mapping/hector-mapping-hd License: BSD
docker run -it --network=host cognimbus/hector-mapping roslaunch hector_mapping hector_mapping.launch map_resolution:=0.01 map_size:=2048 base_frame:=base_link map_multi_res_levels:=3 scan_subscriber_queue_size:=5 map_frame:=map scan_topic:=/scan output:=screen use_tf_scan_transformation:=true tf_map_scanmatch_transform_frame_name:=laser map_start_x:=0.5 map_start_y:=0.5 max_rotation:=1000 max_translation:=99999
| ROS topic | type |
|---|---|
| scan | sensor_msgs/LaserScan |
| ROS topic | type |
|---|---|
| /map | nav_msgs/OccupancyGrid |
| /pose | geometry_msgs/PoseStamped |
This node does not require tf
This node does not provide tf
- Dockerhub image https://hub.docker.com/r/cognimbus/hector-mapping
- Supported architectures arm64/amd64
- ROS version melodic-ros-core
- 2D laser scan mapping using Hector mapping algorithm git: https://github.com/cognimbus/nimbus.library/tree/master/Library/Components/hector-mapping/hector-mapping-hd License: BSD
docker run -it --network=host cognimbus/hector-mapping roslaunch hector_mapping hector_mapping.launch map_resolution:=0.025 map_size:=2048 base_frame:=base_link map_multi_res_levels:=3 scan_subscriber_queue_size:=5 map_frame:=map output:=screen use_tf_scan_transformation:=true tf_map_scanmatch_transform_frame_name:=laser map_start_x:=0.5 map_start_y:=0.5 max_rotation:=1000 max_translation:=99999
| ROS topic | type |
|---|---|
| scan | sensor_msgs/LaserScan |
| ROS topic | type |
|---|---|
| /map | nav_msgs/OccupancyGrid |
| /slam_out_pose | geometry_msgs/PoseStamped |
This node does not require tf
map--->base_link map--->odom