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How to run navigation stack on a tracked vehicle?

asked 2017-07-03 02:38:48 -0500

Ubicray
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Hi! I have a tracked robot which I would like to turn into an autonomous one I'm thinking about adding GPS waypoint navigation. The first step for that I think is going to be implementing navigation stack. I'm fairly new to ROS, so I would appreciate each and any suggestion on what to use and how to use it.

I have IMU and GPS connected to the robot, and willing to buy additional sensors as well, if needed

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answered 2017-07-04 02:03:11 -0500

Procópio

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You can follow the usual tutorials on navigation. As mentioned in another answer, tracked vehicles have a poor odometry, but that can be overcome with alternative odometry packages such as hector_slam or laser_scan_matcher.

As you are outdoors, you can also use robot_localization to integrate your GPS with other localization sources.

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Thanks for the input! What do you think, would GPS + IMU data be enough for localization or would I need visual odometry as well? (Asking because it's a big outdoor vehicle and visual odometry can be hard outdoors0

Ubicray ( 2017-07-05 01:45:43 -0500 )edit

I do not think that would be enough. You could try laser odometry instead of visual odom. I also suggest that you use the encoders odometry, although noisy, in the robot_localization.

Procópio ( 2017-07-13 03:29:14 -0500 )edit

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Asked: 2017-07-03 02:38:48 -0500

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Last updated: Jul 04 '17

How to run navigation stack on a tracked vehicle? edit

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How to run navigation stack on a tracked vehicle?