| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi all,
from the SLAM algorithm I use, I can get a mesh or a Pointcloud representation of the map. Can I somehow run the standard navigation stack? My idea is to use a empty static map and use the sensor input for the Map. Is that possible? Are there better solutions?
Regards
There is an existing ros package to convert a pointcloud to a laserscan, then the navigation stack can be configured to work with that laserscan.
The poitncloud to laser idea worked not for me because the robot has to navigate into multiple rooms and the laserscan reduce the map to the first wall and do not see the room behind that wall as I would expect. I have seen that Kimera outputs the occupied nodes as a marker array. Is it possible to use that for navigation?
I don't know how smart that package is about extracting a plane from a point cloud. If you are sure the information you want is present in the point cloud, it may be best to write your own custom extractor.
I'm glad you got it working. Thank you for sharing your solution.
Asked: 2021-12-21 13:53:05 -0500
Seen: 363 times
Last updated: Dec 23 '21
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
Are you trying to create a SLAM implementation on your own? Which of the many existing ROS SLAM packages have you studied? I applaud your ambition, but it's not clear from your short paragraph that you understand the difficulty of the problem .
I don‘t want to build a SLAM Algorithm on my own. I am trying to use Kimera (https://github.com/MIT-SPARK/Kimera-V...) to navigate with the robot. Kimera outputs a pointcloud or a mesh of the Environment which i want to use for navigation. As far as I understood I have to reduce to pointcloud to a 2d map to use the navigation stack. Is there a way to use ros packages to do this or do i habe to do it on my own? Are there packages from which i don‘t know which enable me to navigate on a mesh?