replacement of odometry in navigation stack

asked 2018-12-04 22:57:04 -0500

IvyKK gravatar image

Hi, I'm working on navigation stack, with a lidar only, I don't have any odometry, so I wonder if the data from the lidar can be sufficient to publish relevant tf and the nav_msgs/Odometry message...

I searched around and saw laser_scan_matcher might be possible, but it doesn't contain velocity?

there I also found a package rf2o_laser_odometry, but I have no idea how to implement or if it really works to substitute the odometry (I'm very new to ROS...)

Is there anyone who came across these and could give me advice/ any tutorial on these?

Thanks!

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Comments

Check hector_slam instead of gmapping/amcl, it can do without odom

Humpelstilzchen gravatar imageHumpelstilzchen ( 2018-12-05 12:27:37 -0500 )edit

do you mean using hector slam for navigation instead of using navigation stack or using hector slam for getting odometry?

IvyKK gravatar imageIvyKK ( 2018-12-05 20:28:31 -0500 )edit