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Can I get Odometry data using GPS and IMU only? (For SLAM!)

asked 2021-09-05 23:03:20 -0500

Kintheworld gravatar image

Good morning. Nice to meet you. I'm leaving my first question to this community. I'm a newbie to ROS and SLAM, and I'm sorry that I'm asking you such a rudimentary question.

I am currently trying to use the Gmapping SLAM package. So I need Odom data for this.

However, currently I don't have sensors like Encoder, so I have to use IMU and GPS only. Is there a way to get Odometry data using only these two sensors?

If it exists, which ROS package should I use?

I would really appreciate it if you could answer. I wish you all the best of luck when you read this article.

Thank you. - K

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answered 2021-09-06 06:39:21 -0500

Dragonslayer gravatar image

Hi, cartographer link has an odometry feature and I red that lots of people use it to good effect with 2d lidar. Also RTAB-map has such a feature but uses camera(3d). There is the question of how well this all should work and in what environment. Corrected gps outdoor can give centimeter precision and localization. You didnt mention lidar or 3d pointcloud sensor, as you are mapping I asume you use one of these?

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Asked: 2021-09-05 23:03:20 -0500

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Last updated: Sep 06 '21