Suitable localization algorithm for IMU + GPS + Wheel Odometry + PointCloud + Laser Scan
Hello
I am trying to find a suitable localization algorithm which below data can be fused;
- IMU
- GPS
- Wheel Odometry
- PointCloud2 (RGBXYZ from Realsense D435)
- Laser Scan (RPLidar)
I don't have pre-scanned static map so algorithm should run simultaneously. AMCL is not an option in this case I think.
I checked Hector, Rtabmap and some other packages but I couldn't find any package that I can feed all these data. I tried EKF/UKF before but wheel odometry is not working well (probably because of the wheel slip) I am trying to find a way to compansate this. I thought I can use point cloud or laser data to determine my yaw angle (like laser_scan_matcher) but I couldn't figure out how can I use all these data together with laser_scan_matcher. (Any schematic represantation would be perfect! )
Would you please suggest a suitable package for my scenario?
Thank you!
You could try using an EKF filter to fuse this information. One implementation that is easily configurable is robot_localization
Sorry for the misunderstanding, I put some more explanation to my question. I tried it but I think I need something like laser scan matcher. But I couldn't figure out how can I use all these data together with laser_scan_matcher