ROS: add Hector_Slam (5 of …)

Clone Slam:

$ cd ~/catkin_ws/src

$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git

$ cd ~/catkin_ws

$ catkin_make

Edit Launch file /home/vmros/catkin_ws/src/hector_slam/hector_mapping/launch/mapping-default.launch:

The third line with
<arg name="base_frame" default="base_link"/>
The fourth line with
<arg name="odom_frame" default="base_link"/>
Replace the second last line with
<node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />

Edit /catkin_ws/src/hector_slam/hector_slam_launch/launch/tutorial.launch:

<param_name="/use_sim_time" value="false" />

Run Hector SLAM:

roslaunch hector_slam_launch tutorial.launch

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