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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?
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.
@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.
I havn't come across such tutorial. There are a lot of examples where robot_localisation is used:http://docs.ros.org/melodic/api/...
@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.
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.
@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: 2019-06-17 07:05:45 -0500
Seen: 879 times
Last updated: Jun 17 '19
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