Setting Up Navigation Stack with only Odomtery
Hello,
I'm trying to set up the navigation stack on a robot possessing only odometry devices (wheel encoder, IMU, and GPS, published to /odom /imu /gps
). No camera/laser. The robot is also using robot_state_publisher
to publish the transformations between robot parts. The tree looks like this:
/base_footprint
--> /base_link
--> /imu
/gps
/front_left_wheel_link
/front_right_wheel_link
...
If I want to use only odometry sources (wheel encoder, IMU, and GPS) to navigate the robot, it seems the only frame transformation that needs to be done is /map
--> /odom
--> /base_footprint
. I was wondering if this should be done manually or navigation stack (amcl localization?) is taking care of these two transformations?
Thanks
Can I ask you how do you get information from /imu /gps and /odom the move your base_link? In the tutorial about setting up the navigation stack I didn t find any example. Regards