Hi all,
I have a mobile robot and I would like it to navigate around the building. I already have a 2D map of the building. I have Rotational encoders to get the odometry information and IMU/UWB for localization. I will be using hokuyo laser sensor and Ultrasound sensors for navigation. Hokuyo will be the main sensor for navigation and Ultrasound sensors will be used to detect obstacles not seen by the hokuyo (like Overhangs, etc). So, my question is how can I merge the output of Ultrasound sensor which is of the type sensor_msgs/Range.msg with the hokuyo sensor output which is of the type sensor_msgs/LaserScan.msg ?
I think one way can be to convert Range message to LaserScan message and then modify the original LaserScan message from the Hokuyo to incorporate this LaserScan message to come up with the final merged LaserScan message and use if for navigation. But I dont know how hard it will be specially merging of two LaserScan messages into one.
Is there any other (easier or better) way to accomplish this? Or if this is the only way, what is the best way to go about it?
Thanks in advance.
Naman Kumar