Localization based on a laserscan

asked 2015-06-20 12:08:15 -0500

Tirgo
66 ●26 ●32 ●34

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 -0500

duck-development

1999 ●4 ●160 ●25

updated 2015-07-06 15:30:54 -0500

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

roscd ;
source devel/setup.bash
cd src ;
git clone https://github.com/ccny-ros-pkg/scan_...
apt-get install libgsl0-dev
cd ..
catkin_make
Start IT.

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Not a good answer, only for fuerte not for indigo..

felixwatzlawik ( 2015-06-23 00:43:42 -0500 )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 ( 2015-06-23 11:22:01 -0500 )edit

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answered 2015-06-22 05:28:09 -0500

jodafo

365 ●3 ●7 ●12

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 -0500

felixwatzlawik
201 ●15 ●20 ●27

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 ( 2015-07-10 06:00:09 -0500 )edit

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