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Localization based on a laserscan

asked 2015-06-20 12:08:15 -0600

Tirgo gravatar image

Hello,

i have a question regarding the localization of a mobil robot. Unfortunately my robot is not able to offer wheel odometry. I am looking for an approach to localize my robot in a given map just based on a laserscan. I read that hector_mapping can be used in this case, as it includes a laser-scanmatcher, which works well as stand alone. Is something similar avialable without the whole SLAM algorithm behind? I just need the "L" ;). My robot has the constraint of relativly low computing power, why i also can't use visuel odometry.

Thx for your answers

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answered 2015-06-21 10:33:50 -0600

duck-development gravatar image

updated 2015-07-06 15:30:54 -0600

Try this http://wiki.ros.org/laser_scan_matcher

  1. roscd ;
  2. source devel/setup.bash
  3. cd src ;
  4. git clone https://github.com/ccny-ros-pkg/scan_...
  5. apt-get install libgsl0-dev
  6. cd ..
  7. catkin_make
  8. Start IT.
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Not a good answer, only for fuerte not for indigo..

felixwatzlawik gravatar imagefelixwatzlawik ( 2015-06-23 00:43:42 -0600 )edit
2

The wiki page is just saying that documentation is only generated for electric and fuerte. I have used laser_scan_matcher in hydro with no issues.

Dan Lazewatsky gravatar imageDan Lazewatsky ( 2015-06-23 11:22:01 -0600 )edit
0

answered 2015-06-22 05:28:09 -0600

jodafo gravatar image

Hi,

you can try amcl and use scan to scan registration to "replace" wheel odometry, for example discussed here.

Alternatively, you can adjust hector slam to add functionality to save and load maps, this shouldn't take longer than a couple of hours..

Best, Joscha

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answered 2015-06-23 00:45:47 -0600

felixwatzlawik gravatar image

I would recommend to use Hector. I am using Hector for everything, you have to edit your hector to just use the laserscan and localize but not publish a map. http://wiki.ros.org/hector_slam?distr... http://wiki.ros.org/hector_mapping?di...

From where do you get your map?

http://wiki.ros.org/amcl AMCL should also work for you cause AMCL is publishing a pose and fake-odometry.

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I create the map with an other system. Its much more powerful and i am using gmapping for it. I will go on and test which approach needs less computing power. Thx for your tips.

Tirgo gravatar imageTirgo ( 2015-07-10 06:00:09 -0600 )edit

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Asked: 2015-06-20 12:08:15 -0600

Seen: 507 times

Last updated: Jul 06 '15