Navigating with the navigation stack and hector_slam without an IMU
Hello,
I am currently using hector_slam having no IMU installed.
I want to use the navigation stack. In combination with the hector_slam (hector_mapping) the robot shall navigate and move transport itself autonomously.
I am interested in two problems (and their solutions)
- General question: My robot has no IMU installed and therefore does not publish any odometry information. Are odometry information required for the robot? Since hector_slam provides poses and tf's does a robot need additional odometry information provided by a physical IMU? If yes, why does it need them?
- The navigation stack is well documented. In the rosgraph architecture for the navigation stack you see that odometry information is required. Do I need a physical IMU installed on my robot? Does hector_slam provide 'emulated, software-based' odometry? Using the hector_slams' published topics poseupdate or slam_out_pose and the transform can I 'calculate' my odometry and publish it? If yes, how would I do that?
I checked the ROS answers and yielded diverging anwers concerning this issue.
The question http://answers.ros.org/question/20445... is answered with 'you need odometry' to use the navigation stack.
The question http://answers.ros.org/question/73261... is answered with 'you can just forget about your robot's odometry, because hector_slam will provide it'
ROS version: kinetic OS: Ubuntu 16.04
@FLYINGKNIGHT did you get answers to your questions?