Localization(x and y) for RPLidar A1 (with hectorslam and amcl)

asked 2020-01-15 10:02:34 -0500

mrsynix gravatar image

Hi, i am relativly new to the whole ros and robot topic. I got a RPlidar A1 and what i want to do is to retrieve a x and y position (respectivly to the given map which i create with hector_gmapping as a yaml file). I already set up the workspace and installed the packages (navigation, hectorslam, rplidar etc). But i am struggling on how to proceed further. First of all, is it even possible to retrieve this x and y position - RPlidar A1 does not have odometry (just in case this is a must).

Can someone maybe give me some hints or tips on how to solve this problem?

Thanks in advance.

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I am stuck here too... Where did you get the Navigation file from? Thanks

femitof gravatar image femitof  ( 2020-01-16 15:14:20 -0500 )edit

Hey, just cloned it from here: https://github.com/ros-planning/navigation Then build it with catkin_make. But i still dont know how to use the amcl and how to create a correct launch file

mrsynix gravatar image mrsynix  ( 2020-01-17 02:45:57 -0500 )edit

Try using this file: https://www.fer.unizg.hr/_download/re...

It basically tells you how to do the AMCL, i am stuck on fixing the Laser frame, but every other thing works. Let me know if and when you try yours...

femitof gravatar image femitof  ( 2020-01-17 12:30:05 -0500 )edit

HEllo, I am currently facing the same problem. I am working with RPLiDAR A3 and already hace the .yaml map built with hector_slam but do not know how to proceed to get my x,y position. How did you solve this issue?

Miguel_Arriscado gravatar image Miguel_Arriscado  ( 2020-02-24 05:21:55 -0500 )edit

Do you have odometry information too?

femitof gravatar image femitof  ( 2020-02-24 11:35:34 -0500 )edit

i do not have odometry information

mrsynix gravatar image mrsynix  ( 2020-02-24 11:38:33 -0500 )edit

You could create a fake odometry using "Laser_scan_matcher" and then use the amcl file in the directory you cloned for localization ..

You can use the launch files in this link: https://answers.ros.org/question/3424...

femitof gravatar image femitof  ( 2020-02-24 11:40:32 -0500 )edit

hey, im now working on this again after some time and just was curious if you already got a solution (or if the provided one worked for you)

mrsynix gravatar image mrsynix  ( 2020-04-28 03:56:44 -0500 )edit