ROS and Hector SLAM for Non-GPS Navigation

[kenhuyang]

https://ardupilot.org/dev/docs/ros-slam.html the article misses some details on how to transmit the slam data to ardupilot. the Hector SLAM publishes "/slam_out_pose" and "/poseupdate" for the final result, but mavros need "/mavros/vision_pose/pose" and "/mavros/vision_pose/pose_cov" topic, so we need to add the following two lines at $HOME/catkin_ws/src/hector_slam/hector_slam_launch/launch/tutorial.launch <remap from="/slam_out_pose" to="/mavros/vision_pose/pose" /> <remap from="/poseupdate" to="/mavros/vision_pose/pose_cov" />