Navigation stack with GPS and without wheel encoders
Hi, I was working with navigation stack on a rover. It was equiped with wheel encoders, GPS, IMU and a LIDAR. As I have goos localization sensors I remove ACML and instead I used robotlocalization with 2 EKF, one for map->odom and the oder for odmo->baselink. Everithing works ok. But now I need to do the same on a boat and on a UAV. Both of them have nor wheel encoders. So, is there a way to work with navigation stack, in order to waypoint navigation while avoid local obstacles? BTW, I use an empty static map and NS was used for global path planning and local obstacles avoidance.
EDIT: Both, UAV and ASV have IMU sensor. They have a good map->base_link estimate using GPS and IMU. The problem is how to get a good odom->base estimate without wheel encoder.
Thank!
Asked by elgarbe on 2023-01-14 08:33:59 UTC
Answers
Idea.
Create a node where odom runs as per the output of cmd_vel. if combined with IMU and GPU, it may be able to achieve a reasonable accuracy.
Asked by miura on 2023-01-15 03:49:05 UTC
Comments
Tha's a good one. The odom->base ekf could use cmd_vel control output together with the IMU. I'll give it a try. Thank
Asked by elgarbe on 2023-01-15 08:25:41 UTC
Comments
It would be good to have a description of the available sensors. I understand that wheel encoders cannot be used, but I could not read if the IMU can be used.
Asked by miura on 2023-01-15 03:47:31 UTC