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Navigation without lidar

asked 2020-02-19 11:36:38 -0500

jamie-h gravatar image

Hello. I am new to ROS and not sure exactly where this would fall under, so please bear in that in mind..

I am working on a differential drive robots project. We are using an off the shelf positioning system based on cameras(dragonfly). It gives us x,y,z (relative to a defined origin) or WGS84 coordinates.

It creates SLAM internationally without lidar.

All of the navigation and path planning seem to operate directly off of slam created from the lidar.

Is there a module that works with just coordinates for navigation/path planning?

Thanks so much!

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answered 2020-02-19 13:00:58 -0500

Nothing in navigation strictly required a laser, or any particular sensor. It is _easier_ admittedly with a lidar because you can use AMCL "for free" as a starting point for localization. If you have a localization method from other sensing, then there's no reason you cannot use the navigation stack assuming you have some sensing to avoid obstacles and some pre-built (or building while moving) environment map that can be used to plan and control in.

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Without some sensor to provide information about the immediate environment though, it will be difficult to use collision avoidance local planning. But perhaps @jamie-h has some other means for that.

gvdhoorn gravatar image gvdhoorn  ( 2020-02-19 13:27:55 -0500 )edit

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Asked: 2020-02-19 11:36:38 -0500

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Last updated: Feb 19 '20