how can I do slam with GPS and lidar

asked 2019-01-15 02:35:57 -0600

ydc gravatar image


I'm quite new to ROS. I'm working on an autopilot project that we have to build a map with GPS and lidar. So I have learned some knowledge about SLAM, and I ran some SLAM demos based on "gmapping" and "hector_mapping".

Unfortunately, the inputs of "gmapping" are odometer data and lidar data, but I only have GPS data and lidar data(Our goal is outdoor SLAM). As for "hector_mapping", I found its result is not good when my robot changed direction. I think the reason is the input of "hector_mapping" is lidar data only, the amount of information is too small.

What should I do? Is there a SLAM library that subscribes lidar data and GPS data? Or I should propose a custom algorithm?

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Hi, could you check this question, it might help

mali gravatar image mali  ( 2019-01-15 03:10:55 -0600 )edit

Thank you! I think this is useful for me, I'll try it.

ydc gravatar image ydc  ( 2019-01-15 09:35:22 -0600 )edit