Localization and navigation by Lidar and IMU without odometry

asked 2022-09-15 11:50:47 -0600

shiningdanyang gravatar image

Hi everyone. I just start learning ROS and building a robot with purpose to auto navigation from point A to point B, and locate its coordinates in a game field (like this one https://youtu.be/YzA_GTmg_nM).

However, I cannot implement encoder to get the odometry data. My team only have 1 Chiprobotics IMU and 1 Rplidar A1 for this location target. After searching the packet, I found that hector_slam can do it without odometry data. However, I don't know how to implement imu to this packet, so when the robot rotates in yaw axis, the map is drift too and we lose the current posing/attitude of it, and I am stuck with no idea what to do next.

I want to ask for this navigation and localization, is there any packet to do it or is there anyways to implement IMU into hector_slam for a better result Because I am a newbie so maybe my question is a little innocence. But I hope I could get the help from you Thank you all

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