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can the ros navigation stack be used without laser scanner

asked 2019-10-20 21:07:58 -0500

wintermute gravatar image

Hello, I have a simple ros robot, which has odometry, an imu, and robot_pose_ekf, and I am getting almost correct trajectories in rviz. I also wrote a simple python program that gets the current heading and makes the robot move in desired direction for a given distance.

Instead of laser scanner I would like to use a top to down looking camera, and with an aruco marker on the robot, I think I will be able to determine its exact position.

Is there any way I can use the navigation stack, so I can navigate the robot into a desired goalpoint, (like within a constrained environment like a 2x2m box, with no obstacles, and the aruco system giving x,y of the robot visually)

Best Regards. C.A.

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answered 2019-10-20 21:51:04 -0500

fergs gravatar image

Assuming your Aruco system + odometry/ekf can give a globally accurate localization, possibly - since it is really a full replacement for AMCL at that point. Since you have no obstacle sensors, you're really just using the planners from the navigation stack. You'll need to either create a map image or write a ROS node to publish your fixed map.

One note - you'll need to make sure that your EKF/camera system gives a heading (in addition to x,y).

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Asked: 2019-10-20 21:07:58 -0500

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Last updated: Oct 20 '19