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slam_gmapping using imu data instead of /odom

asked 2012-10-31 02:16:47 -0500

Zee-Q gravatar image

updated 2012-10-31 02:45:00 -0500

Hi all,

i am wondering whether we can use gmapping with imu data instead of /odom if yes what would be the pointer in this direction.

Thanks

(p.s i am using ubuntu 10.04 with ros electric)

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Please open individual threads for multiple questions keeping this one for the gmapping question.

dornhege gravatar imagedornhege ( 2012-10-31 02:27:17 -0500 )edit

@dornhege i edited the post

Zee-Q gravatar imageZee-Q ( 2012-10-31 02:45:39 -0500 )edit

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answered 2012-10-31 02:29:05 -0500

dornhege gravatar image

updated 2012-10-31 03:22:41 -0500

The simple answer is no. gmapping needs odometry.

You can either use SLAM that doesn't require this as hector_mapping or find an intermediate node that can produce odometry from IMU or laser + imu. http://www.ros.org/wiki/laser_scan_matcher should provide this functionality.

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@dornhege Thanks for answering are you aware of any implemented node which provide this conversion?

Zee-Q gravatar imageZee-Q ( 2012-10-31 02:44:10 -0500 )edit

see my edit.

dornhege gravatar imagedornhege ( 2012-10-31 03:23:10 -0500 )edit

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Asked: 2012-10-31 02:16:47 -0500

Seen: 1,663 times

Last updated: Oct 31 '12