Localization and obstacle avoidance
My system currently has
- Wheel encoders that give encoder counter and rpm
- Lidar which publishes /laserscan
- QR code based pose detection using a high fps camera
I am trying to localize the robot as accurately as possible and use the lidar to avoid obstacles. I have some questions on this.
- Is wheel odometry and qr based pose good enough or do i need an imu and additional sensors to localize the robot better?
- What is the simplest way to perform obstacle avoidance using a lidar?
Thanks in advance