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What you are asking for is called "global localization". Many people use the AMCL package link for this, which matches lidar scans to a map.
AMCL assumes that you already have an accurate map, and that your lidar has sufficient range to reach the walls. The implementation in the ros repo is very basic, so be aware you must drive the robot a couple meters before AMCL will estimate the robot's pose on the map.
| | 2 | No.2 Revision |
What you are asking for is called "global localization". Many people use the AMCL package (link ) for this, which matches lidar scans to a map.
AMCL assumes that you already have an accurate map, and that your lidar has sufficient range to reach the walls. The implementation in the ros repo is very basic, so be aware you must drive the robot a couple meters before AMCL will estimate the robot's pose on the map.
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