navigation with lidar

asked 2016-12-22 07:33:51 -0500

Arpitsoni gravatar image

hi there.... i am working on autonomous mobile robot with lidar sensor. i am able to autonomously navigate the robot. but i have some problem. the laser scan data is get mis-matched with the static map while robot is taking turn. i know it is because of yaw rate sensor data. but how to integrate yaw rate sensor data with this ???? i am publishing yaw rate with wheel ticks on the topic /odom_fused and only wheel ticks on the topic /odom. i have changed /odom to /odom_fused in my navigation.launch and in amcl_diff.launch....but still same problem persist....... what to do ???

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can you post a video of this behavior? also a rostopic echo or your odom and odom_fused. what do you mean by "yaw sensor rate" ??

Procópio gravatar image Procópio  ( 2017-01-05 06:23:12 -0500 )edit