Navigation with only Odometry( without Lidar )

asked 2022-03-16 11:26:30 -0500

Belghiti
50 ●5 ●7 ●12

Hi! I want to compare the performance of Odom and Lidar. I managed to examine the accuracy of the lidar while the Turtelbot3 is not moving. Now I'm trying to investigate how accurate the odom is without interference from lidar, I'd be so grateful for any suggestions.

answered 2022-03-16 20:08:57 -0500

schulze18

91 ●6 ●4

Hi Belghiti. From what I understood, you want to use the Navigation Stack (probably move_base) based only on odometry. Considering that, the Navigation Stack requires a transformation from odom to map frame. Therefore, you need to publish a constant transformation between these two frames. You can write a node to do that, but I think that static_transform_publisher does exactly what you need. You can just set zero to all offset coordinates.

I hope this will help you.

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Hi again, thank u so much sir for ur time and help, ur suggestion seems like a good way to solve my problem (especially if u mean that the lidar won't interfere in any way possible), and i hope i can put it to use cause im still so new to all of this. Thanks again!