getting lidar data as odom. ?
Hello everyone..
With the laser_scan_matcher class, I can see the movements on the rviz screen with the lidar.
Since I don't have encoder data, I want to navigate with lidar for now.
I need odometry and lidar data to be able to navigate. But since I don't have encoder data, I want to give lidar position as odometry, and I want to do navigation with lidar. How can I do that?
I mapped with gmapping.
Likewise, I saved my map with gmapping and using map_server.
Now I need to get the position of my robot with amcl, but for now I need to navigate with lidar since I don't have motors with encoder.
I have an arduino board in the system that controls the motors. and i check this board with diff_drive. ı use diff_drive ; https://github.com/jfstepha/different... In summary ; I know there is good encoder data, good mapping and good lidar data for the most accurate navigation process. But for now I don't have encoder data, so I just want to navigate using gmapping and lidar ( laser_scan_matcher ).
but I don't know how to make amcl/move_base together with laser_scan_matcher.
I will be glad if you help.
Let me explain like this; I have manual encoder sensors at hand. i.e. I don't have a motor with internal encoder data.
I also added an encoder manually to go beyond this problem. These are the encoder sensors I added manually: link text
However, there were some breaks between the discs. For this reason, my encoder values are wrong. For example, correct data was coming before the encoder sensors broke. I'm listening to the topic /odom now but the data is coming back wrong. For this reason, I want to act according to lidar.