Autonomous navigation with Velodyne VLP-16 3D Lidar
I am trying to use Velodyne VLP-16 on custom-made robot base for mapping, obstacle avoidance, and autonomous navigation. The accuracy and performance are not main concerned and can be solved by integrating additional sensors. What I'm trying to find is the packages that I can use in the following setup.
Preparation phase
- Mapping with LOAM: use VLP-16's scan to obtain pcd map. => Any LOAM packages
- Convert pcd file into occupancy grid for GLOBAL costmap in navigation => ???
Autonomous Navigation phase
- Using LIDAR Odometry to localize the robot in pcd map and obtain odometry. => ???
- Detect obstacles in real-time and put it in LOCAL costmap => Costmap2D
- Navigation planner & obstacle avoidance => ROS Navigation Stack
I wonder if anyone is attempting on a similar thing and happens to know which packages I could use for a part that I marked as ???. Sorry if my explanation is unclear. Any helps or suggestions are very appreciated.