Creating fake Odometry
I am trying to build a robot similar to the turtlebot. But my only sensor input is LaserScan
from RPLidar.
Since rf2o_laser_odometry
has some issues, I chose to use laser_scan_matcher
. However laser_scan_matcher
only gives Pose2D
msgs, which will help estimating the pose but not the Twist
.
I want to create fake nav_msgs/Odometry
using the data from Pose2D
and Twist
messages from the move_base
by merging them. I have two questions regarding this.
Is it a good idea to do so, considering that I only have access to LaserScan
and that rf2o_laser_odometry
, the only package which publishes Odometry
msgs from LaserScan
, doesn't work and has errors?
Also, a bit more specific doubt with the workaround. I am experiencing delays in Odometry's Twist values and the actual twist values. How can I solve that issue?