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Hi,
I am working on path coverage problem using a RTK-GPS on a differential drive automatic model. I do not have laser or lidar for the purpose that they serve. Is there anyway to move the robot from a to b on a map by using rtk-gps data for localization on a map.
Thanks Shobhit
Hey there are several ways to get this up and running.
For existing packages I'll point you to robot_localisation package( https://github.com/cra-ros-pkg/robot_... ) with doc's here: http://docs.ros.org/melodic/api/robot...
There has been discussions to get this package up and running with move_base for navigation also in this answer: https://answers.ros.org/question/2021...
If you want to do it manually we addressed a workflow for getting this type of localisation up and running at this year's ROSCon which you can find here: https://roscon.ros.org/2018/presentat...
The summary of the presentation is that you tie the origin of the static map to some known lon, lat and alt and from that; set up the proper transforms using the GPS data from the ground bot and dead reckoning to localise the robot in the static map.
Hi Shiv, Thanks for the information. I am currently working on a differential model and would like to move the robot from A to B. Is there any existing gitlink with PID or MPC implementation that can help.
Thanks a lot. Shobhit
Asked: 2018-10-09 08:18:02 -0500
Seen: 604 times
Last updated: Oct 11 '18
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You can try using the way_point navigation stack . https://www.clearpathrobotics.com/201...