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hi guys, i'm new with ROS. how to get real robot odometry XYZ in the room by using lidar? right now i wanted to write simple code to move the roboto without IMU or Tick, just lidar. so basically i want Odometry data with Lidar.
my specs real robot is;
if you can help me i would really appreciate that, thank you very much.
It won't do Z, but Hector mapping will allow you to map X,Y without encoders and the laser-scan-matcher can generate ODOM using laser scan.
But if your motors do not have any feedback, you need to really run the robot very slowly as the lidar is relatively slow and you'll be using the lidar essentially as the feedback for your motor control. I trust the motors have very steep gearing.
Do your self a favor and spend a few days going through the tutorials carefully. In the end it will save you a lot of time.
OK I owe you some clarification. The scan-matcher outputs the pose - not odom directly. You can calculate ODOM by evaluating the change in the pose in time. Depending on the reason you want ODOM, you may find having the pose directly is more convenient. Sorry for the confusion.
Read more here: http://wiki.ros.org/laser_scan_matcher
Asked: 2020-08-13 22:30:37 -0500
Seen: 655 times
Last updated: Aug 14 '20
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