Writing my own navigation code with information gathered from LiDar sensor using ROS's SLAM package.

asked 2021-10-28 02:30:30 -0600

1024son
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Hello all, Is it possible to write up the navigating code for my autonomous robot using a LiDar sensor installed with ROS's SLAM package? Meaning, using the SLAM package like Hector Slam or Gmapping to gather data from my Lidar sensor, is it possible to write a self navigating code instead of using ROS's navigation stacks. I am new to this but am required to do it for my FYP. Thank you very much.

SBC: Odroid C4 LiDar: RPLiDar A1

answered 2021-10-28 15:59:21 -0600

stevemacenski

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Yes, you may at any time create your own custom software to replace existing libraries.

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Thank you for replying, is there any guidance on how to write the navigation code while utilising the SLAM package from ROS or how to start?

Or is it possible to learn from the navigation package itself? Thank you again.

1024son ( 2021-10-29 03:35:13 -0600 )edit

@1024son I think you need a better understanding of the many, many things the "navigation stack" does before you decide you are going to replace it. The existing code represents years of effort, and is not something you are going to rewrite in a few weeks. However, the design is very modular and it would make sense for you to work on improving some portion of it.

Mike Scheutzow ( 2021-11-03 07:07:25 -0600 )edit

Hi there, thank you for confirming this. As I know deep down that even with months, I might not be able to rewrite it and the best shot I have as of now is using and understanding it. Thereafter, improving it based on my needs and objective(if it is even possible).

1024son ( 2021-11-05 05:19:07 -0600 )edit

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Writing my own navigation code with information gathered from LiDar sensor using ROS's SLAM package.

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Writing my own navigation code with information gathered from LiDar sensor using ROS's SLAM package.