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how to use nav2d with my own lidar and slam algorithm?

asked 2017-04-06 06:16:04 -0500

xbc
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i'm trying to do this job,here is the scene: I want to take my lidar move around a house ,and i hope nav2d could give me a path about how to move to the most proper frontiers,my slam algorithm is cartographer not karto. now i've already run the tutorial3.launch,but i still don't know how to achieve it with my own lidar and slam algorithm...for example i don't know how to modify tutorial3.launch to make it work.

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answered 2017-04-07 02:27:37 -0500

Sebastian Kasperski

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You actually just have to replace the Karto-Mapper with your own mapping algorithm. Make sure that your mapper provides the map via a service of type GetMap, so that the navigator can use it to plan exploration on it.

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I did what you told me to do ,but something unexpectedly happened..I change my tutorial3.launch' s mapper part :<node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" ,but="" when="" i="" type="" rosservice="" call="" startexploration,nothing="" happened..i'm="" preety="" confused.do="" you="" know="" why="" ?<="" p="">

xbc ( 2017-04-08 02:58:12 -0500 )edit

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Asked: 2017-04-06 06:16:04 -0500

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Last updated: Apr 07 '17

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how to use nav2d with my own lidar and slam algorithm?