ArduCopter SITL + Gazebo + ROS + SLAM( Simultaneous localisation and mapping)

My dear friends,
I am Praveen, Currently doing my Internship research work.
Can anyone have an idea of how can SLAM in a simulation environment with a Quadcopter Drone can be set up?
I would like to do it in Hector SLAM in ROS Rviz visualization with SITL Simulation. Since I am at the beginner level I could not able to find the working method of SLAM in Simulation Environment using Drones in the Github or in the Internet.
Can anyone please help me or guide me to simulate SLAM technique in the SITL environment for drones?
Thank you in advance.


1 Like
  2. hector slam is 2D only
  3. you’ll need gazebo_ros, mavros

Can we do using SITL, with these steps?

Thank you

Just use gazebo lidar

I followed the steps with the following link

And then Tried,
Terminal 1: roscore
Terminal 2: roslaunch iq_sim lidar.launch ( This is the model with quadcopter lidar in gazebo simulation)
Terminal 3: -v ArduCopter -f gazebo-iris --console
Terminal 4: roslaunch hector_slam_launch tutorial.launch

Here, I get this warning
[ WARN] [1602822361.947480687]: No transform between frames /map and scanmatcher_frame available after 20.002481 seconds of waiting. This warning only prints once.

Terminal 5: roslaunch mavros apm.launch fcu_url:=udp://:14855@

I have tried in this way, but nothing is poping up related to SLAM,

can you help me, with rviz or please try to resolve my issue.

Thank you

  1. It’s just a warning. Sometimes just due to delay.
  2. Hector doesn’t require this tf, see
  3. Without your launch files, tf tree it’s hard to say anything
  4. ROS related questions better ask on ROS answers

I cant able to do SLAM in SITL simulation with Ardupilot. Kindly anyone help me. Thank you