Now I want to know the localization accuracy of [hector_mapping](http://wiki.ros.org/hector_mapping), so I need to measure the actual position of the robot and compare it with the position of `hector_mapping` publish on `slam_out_pose`. As far as I know, after the [cartographer](https://github.com/googlecartographer/cartographer) starts, the direction in which the robot advances is defined as the positive direction of the x-axis, and then based on this coordinate system, the position information of the robot is output. Is `hector_mapping` based on such a mechanism to establish a coordinate system? If not, what is the `hector_mapping based on to establish the coordinate system?
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