HectorGrapher is a robust, continuous-time SLAM framework for mobile rescue robots, forked from Cartographer. The framework is developed for the needs of robust and efficient 3D SLAM for the mobile ground robots used for urban search and rescue research at Team Hector and the German Center for Rescue Robotics (DRZ).
Thank you for citing HectorGrapher (SSRR-2021) if you use any of this code.
@INPROCEEDINGS{daun_hectorgrapher,
author={Daun, Kevin and Schnaubelt, Marius and Kohlbrecher, Stefan and von Stryk, Oskar},
booktitle={2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)},
title={HectorGrapher: Continuous-time Lidar SLAM with Multi-resolution Signed Distance Function Registration for Challenging Terrain},
year={2021},
pages={152-159},
doi={10.1109/SSRR53300.2021.9597690}}We provide data sets with ground truth data from a Qualisys motion capture system. The data can be downloaded from TUdatalib DRZ Living Lab Tracked Robot SLAM Dataset.
| Continuous Ramps | Woodpile | RoboCup Rescue League: Maneuvering 3 - Traverse | RoboCup Rescue League: Mobility 4 - Elevated Ramps |
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If you haven't already installed it, install ROS. Please use Desktop-Full Install to run the demo. Noetic is officially supported.
Create a catkin workspace and compile the repositories:
source /opt/ros/noetic/setup.bash
mkdir -p hectorgrapher/src
cd hectorgrapher
catkin build
cd src
git clone https://github.com/tu-darmstadt-ros-pkg/hectorgrapher.git
git clone https://github.com/tu-darmstadt-ros-pkg/hectorgrapher_ros.git
catkin build
Create a directory for the bag files
cd $HOME
mkdir bag_files
Download the zipped bag files from TUdatalib in $HOME/bag_files
cd bag_files
unzip drz_living_lab_tracked_robot_dataset.zip
Launch the demo
source $HOME/workspaces/hectorgrapher/devel/setup.bash
roslaunch cartographer_ros demo_asterix.launch bag_filename:=$HOME/bag_files/drz_living_lab_tracked_robot_dataset/continuous_ramps/continuous_ramps_robot_data.bag