Is it possible to use AMCL only with LaserScan (No Odom / No IMU) ?

I've a little robot that move very very slowly in my garden. I think that there are many sure informations in the laser_scan topic (RPLIDAR A3). I have no Odom and no IMU sensor. So, is it possible to use AMCL to localize it on a pre-saved map ? If yes, how ? If no, what is the best and simplest way to do this ? Thanks...

Asked by CdyTritor on 2019-06-10 15:53:58 UTC

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Answers

AMCL will generate the map -> ODOM transform so it does need the ODOM frame to exist, but you do not need wheel odometry to get the ODOM frame. You can use laser scan matcher that will generate odometry for you based on laser scan.

http://wiki.ros.org/laser_scan_matcher

The scan matcher requires that there be features present in the scan data so there must be stable things in the environment for scan matcher to use as reference. Of course AMCL also requires features be in the map so I guess that question is answered.

Asked by billy on 2019-06-10 16:00:24 UTC