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

asked 2019-05-30 08:16:39 -0500

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 imagekosmastsk ( 2019-06-06 04:27:28 -0500 )edit

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answered 2019-06-08 04:32:55 -0500

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 2019-06-07 19:18:39 -0500

mch gravatar image

Theoretically you can estimate your pose using lidar data. That is a set of techniques called visual odometry. 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 -0500

Seen: 127 times

Last updated: Jun 08