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robot_localization package configuration for LiDAR

Hi, I am using an ouster LiDAR(OS-16) with an inertial sense providing data for the IMU, INS, and GPS. Can anyone please guide me how I can use the package? I am using the latest package. I have cloned and catkinmake the package and made the following change in the launch file - ekftemplate.launch

<!-- Placeholder for output topic remapping -->

but when I am running rostopic echo /odometry/filtered I am not getting any output.My goal is to fuse the imu with the odometry. The /ins topic provides the position,orientation, and twist data while /imu provides the linear and angular acceleration.

Can anyone please tell me what else I should have to do to use this package?

Thanks

Asked by Dina on 2019-06-19 19:21:38 UTC

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