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Get an odom from scan

asked 2015-09-14 01:48:03 -0500

TomSon gravatar image

Hi everyone, I look for a package that can compute an odometry based on laser (for a robot without odometry, of course) I have tested the odometry generated with hectorslam and it missed the Twist parameter within the odometry. Did I miss something ?

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answered 2015-09-14 09:20:24 -0500

Check out laser_scan_matcher. If all you want is odometry, hector slam is probably overkill.

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Is the calculation of odometry from laser scan data what people typically call "visual odometry"? I always thought they were talking about calculating odometry from a video camera feed. But this makes way way more sense.

Kurt Leucht gravatar image Kurt Leucht  ( 2015-09-14 11:20:06 -0500 )edit

Visual odometry does indeed refer to using camera data to calculate egomotion. I don't know if there's a good general term for using laser data for the same purpose.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2015-09-14 13:04:19 -0500 )edit

Visual odometry is the new fashion :-) .No seriously, I prefer using a good laser for the moment. Laser_scan_matcher seems to do the job I need if I dont use hectorslam for the same purpose.

TomSon gravatar image TomSon  ( 2015-09-15 01:02:15 -0500 )edit

By the way, I will make a new thread about how I struggle to set up hectorslam and navstack on my robot (the one without odom)

TomSon gravatar image TomSon  ( 2015-09-15 01:30:56 -0500 )edit

Good luck. I've also had trouble getting hector slam working reliably on a robot with no odom.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2015-09-15 14:55:23 -0500 )edit

And you succeed ?

TomSon gravatar image TomSon  ( 2015-09-16 01:00:29 -0500 )edit

Not really.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2015-09-16 09:31:07 -0500 )edit

My bad, it's seems that laser_scan_matcher dont provide an odometry, that's not what I'm looking for. Sorry I was too enthousiast. Do you have another solution ?

TomSon gravatar image TomSon  ( 2015-09-21 02:48:47 -0500 )edit

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Asked: 2015-09-14 01:48:03 -0500

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Last updated: Sep 14 '15