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Can I get the pose data from Lidar required in navigation stack?

asked 2019-05-30 08:16:39 -0600

sajal gravatar image

Odometry in Navigation requires pose of the robot. can I get it from lidar or IMU is necessary?

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You have to run the AMCL package. That will use the input from the lidar and provide you the estimated pose.

kosmastsk gravatar image kosmastsk  ( 2019-06-06 04:27:28 -0600 )edit

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answered 2019-06-08 04:32:55 -0600

dasanche gravatar image

Do you have a map to compare the scans with? What kind of laser is it? Do you have an other sensor data?

For 2D scans and a slam problem you can try theses packages: http://wiki.ros.org/gmapping http://wiki.ros.org/cartographer

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answered 2020-12-08 15:23:04 -0600

apawlica gravatar image

Pose can be estimated using visual odometry. Some SLAM packages, such as rtabmap, perform visual odometry for you (such as RGB-D, stereo, or ICP visual odometry) provided it is configured correctly for the sensor that you are using. IMU's can also be used for odometry, though the quality will vary with the quality of IMU used; noisy and low quality IMUs will likely not result in odometry that is accurate enough to be useful.

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answered 2019-06-07 19:18:39 -0600

mch gravatar image

updated 2020-12-07 16:41:03 -0600

Theoretically you can estimate your pose using lidar data. That is a set of techniques called visual odometry. Most useful algorithm as of today - see here. But it's fairly complicated and laborious task. There are a few companies (e.g. deepmap.ai) whose business is in essence localization based on lidar (and other sensors reading).

Getting your position based on GPS+IMU would be way easier to start with.

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Asked: 2019-05-30 08:16:39 -0600

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Last updated: Dec 08 '20