Robot localization combine with the laser_scan_matcher

asked 2020-06-28 10:58:33 -0500

MarkusHHN gravatar image


It is possible to use the laser scan matcher and use it as input for the robot localization node? If yes, how does it work?

My idea ist to improve my odometry from the Omni wheel robot and then to use the gmapping algorithm.

Regards, Markus

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Gmapping will already take laser and ODOM. What other sensors do you want to include into the localization? Gmapping localizes the robot - so robot localization shouldn't be required. Hector mapping will also localize the robot using only the laser.

Typical application for robot localization is to combine GPS and ODOM or maybe IMU and use it to localize the robot instead of relying on something other localization algo like AMCL.

To answer your ditect question question about how it works:

billy gravatar image billy  ( 2020-06-29 12:11:44 -0500 )edit

hello billy, thank you for your response. Yeah, I know this. The reason for the robot localization package is to combine the odometry and the laser scan matcher to improve my total odometry. The robotino has some drift which makes the result not so good for the gmapping algorithm. For my laser scan, I use the Microsoft Kinect and combine it with the pointcloud to laserscan package to get the laserscan result.

MarkusHHN gravatar image MarkusHHN  ( 2020-06-29 14:58:46 -0500 )edit