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doing mapping for following hardwares ?

asked 2019-09-17 00:15:41 -0500

kallivalli gravatar image

updated 2019-09-17 00:23:12 -0500


i have following components

  1. Rplidar A1
  2. SparkFun 9DoF Razor IMU M0
  3. rotarary incremental encoders
  4. differential drive robot 5.ubuntu 16.04 with kinetic

im trying to do SLAM and i dont know which is good option for me with above hardwares , if i use gmapping can i fuse Imu and encoders or can i do gmapping only with encoders ? should i need to buy ? is there any other good mapping options ??

please guide me

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answered 2019-09-17 02:08:44 -0500

Choco93 gravatar image

You can take a look at ndt_fuser, you can feed this information about odometry and that will help in mapping. To get odometry with IMU and encoder, you can use robot_localization.

NOTE: You cannot use your encoder data directly for robot_localization. You will need to convert it into a twist message or Odometry message.

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what about gmapping ?

kallivalli gravatar image kallivalli  ( 2019-09-17 02:19:31 -0500 )edit

For gmapping to work you need to provide odom->base_link transform that comes from robot_localization. In short if this transform is available you can use gmapping and it should output map.

Choco93 gravatar image Choco93  ( 2019-09-17 02:26:17 -0500 )edit

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Asked: 2019-09-17 00:15:41 -0500

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Last updated: Sep 17 '19