Autonomous Navigation using lidar and hector slam?

Hi, I want to do autonomous navigation in a pre loaded map (made using hector slam) using Lidar and hector slam without any odometry source. Is it possible, if yes then how should I proceed? Will I have to do localization in the pre loaded map or can I directly start with path planning?

Asked by sajal on 2019-06-17 07:05:45 UTC

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Answers

For your robot to accurately control itself and follow the path it will invariably need to do localization or have a decent source of odometry.

Asked by JustinBlack02 on 2019-06-17 08:22:37 UTC

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@JustinBlack02 thanks for the reply. hector slam does mapping without odometry, so is there a way in which I can use hector slam for navigation. It'll work for me even its not much accurate.

Asked by sajal on 2019-06-17 10:14:31 UTC

You can use robot_localisation package to get a more or less reliable odometry (using gps and Imu). On top of that you can use Lidar which will give you a better localisation source. You can use Lidar without any other odometry as well if that's what you want. examples are in Autoware.

Asked by cassini.huygens on 2019-06-17 19:45:25 UTC

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@cassini.huygens thanks. Is there a tutorial or link on how I can use robot_localization with only laser data. I'm finding it hard to get what input data is required and how I'll get output.

Asked by sajal on 2019-06-18 04:34:05 UTC

I havn't come across such tutorial. There are a lot of examples where robot_localisation is used:http://docs.ros.org/melodic/api/robot_localization/html/user_contributed_tutorials.html

Asked by cassini.huygens on 2019-06-18 18:28:47 UTC

@cassini.huygens thanks for reply. I was able to localize my robot using amcl and rf2o_laser_odometry packages. I'll try navigation next if it's possible using these packages.

Asked by sajal on 2019-06-19 10:58:29 UTC