ROS笔记-05 hector-slam安装和测试.txt

How to build a Map Using Logged Data(Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag)
	参考网址：http://wiki.ros.org/hector_slam/Tutorials/MappingUsingLoggedData
	
	1. 安装 /opt/ros/indigo
		sudo apt-get install ros-indigo-hector-slam
		[sudo apt-get purge ros-indigo-hector-* 卸载]
		
		源码：https://github.com/tu-darmstadt-ros-pkg/hector_slam 
		
		
	2. 获取数据集(这里需要翻墙 https://code.google.com/archive/p/tu-darmstadt-ros-pkg/downloads)
			[或者从我的github备份版 下载 https://github.com/Durant35/tu-darmstadt-ros-pkg-dataset_backup.git]
		wget http://tu-darmstadt-ros-pkg.googlecode.com/files/Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag
		
		
	3. 测试：
		terminal-1 按照tutorial.launch 节点配置来运行，包含启动master节点
				roslaunch hector_slam_launch tutorial.launch
		terminal-2
				rosbag play Team_Hector_MappingBox_Dagstuhl_Neubau.bag  --clock
				rosbag play Team_Hector_MappingBox_L101_Building.bag  --clock
				rosbag play Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag  --clock
				rosbag paly Team_Hector_MappingBox_RoboCupGermanOpen2011_Arena.bag  --clock
				
		
备注信息：		
	hector_mapping
		provides 2D pose estimates at scan rate of the sensors (40Hz for the UTM-30LX)