Re: Problem fusing LiDAR and depth (hector_slam)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problem-fusing-LiDAR-and-depth-hector-slam-tp4115p4117.html

Hi,

I don't think you can use hector_mapping to estimate a 3D trajectory out-of-the-box, see this thread: https://answers.ros.org/question/226823/can-hector_slam-be-used-to-create-3d-models/

The hector_mapping+rtabmap example you are using is for a ground 2D robot. To do it on a drone in 3D, the odometry node should provide 6DoF instead of 3DoF (Reg/Force3DoF parameter should be removed from the example as you did for rtabmap node).

Another approach would be to estimate the 3D trajectory using visual odometry, while assembling the laser scans, like in this post: http://official-rtab-map-forum.206.s1.nabble.com/Visual-Odometry-tp2856p2894.html

cheers,
Mathieu