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Best practices for using slam toolbox without odometry

asked 2020-07-06 11:22:53 -0500

NEngelhard gravatar image

I would like to try out the slam toolbox, however, but as the hardware of the robot is currently developed, I only have a laser on a movable platform, but so far no source of odometry. We want to test the toolbox in a new environment that we can't visit too often, so I have to live with laser only for some time.

How should I configure the toolbox? Is there a way to deactivate odometry?

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Hi NEngelhard, could you find the way to test slam toolbox with the scan matcher how did you do it? Could you show me some example? Thanks in advance.

Jose_B gravatar image Jose_B  ( 2020-10-16 14:29:12 -0500 )edit

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answered 2020-07-06 13:27:17 -0500

You must provide odometry for all methods of SLAM in ROS except Cartographer (in which you still should, the non-odometry version isn't great). Therefore, you should find some suitable alternative using some laser odometry methods or test in simulation where you can provide simulated odometry.

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I used a scan matcher as odometry source. [BTW: hector_slam also works without odometry]

NEngelhard gravatar image NEngelhard  ( 2020-07-20 02:29:16 -0500 )edit

Hi @NEngelhard, did you get slam_toolbox working with laser_scan_matcher?

androadi gravatar image androadi  ( 2022-02-03 04:23:59 -0500 )edit

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Asked: 2020-07-06 11:22:53 -0500

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Last updated: Jul 06 '20