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which localization package should I use?

asked 2023-03-07 09:09:31 -0500

klchsyn
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updated 2023-03-07 09:18:52 -0500

Hi, I am trying to develop a mobile robot. My robot will move in a dynamic environment (store, restaurant, etc.). My Odom data is pretty good but I couldn't decide which localization package I should use. At some points, my map and my environment can be completely different.

for odom->map transform;

When I set the EKF, it works very well, but I don't know if it is useful for long move.
For slam_toolbox it is said to be good in dynamic environments but does it have a certain ratio?
I haven't tried Cartographer, should I try?

Do you have any suggestions other than these?

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answered 2023-03-07 15:26:40 -0500

chased11
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I have found it works best to use SLAM for odom->map transform, and the EKF (odom+imu) for base_link->odom transform (accurate odom->base_link with SLAM transform correcting over time). This method has worked pretty well outside and even better inside.

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Thanks your answers. So How can i solve map and environment matching problem for slam algorithm?

klchsyn ( 2023-03-08 02:39:16 -0500 )edit

There's a alot of different SLAM packages. I use RTAB-map with depth cameras, but gmapping, hector slam, cartographer, AMCL, slam_toolbox are all good methods for mapping and localization with LiDAR. You will want to look into each and figure out which one will work best for you.

chased11 ( 2023-03-10 14:56:37 -0500 )edit

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Asked: 2023-03-07 09:09:31 -0500

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Last updated: Mar 07 '23

which localization package should I use? edit

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