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2019-05-20 01:10:42 -0500 marked best answer Gmapping and robot_localization

Hello

We are using the robot_localization package to provide a state estimate by fusing IMU-data in 1 ekf_localization_node. We want to use gmapping for slam but we don't exactly know how to configure this in combination with the robot_localization package. In the presentation from Tom Moore on roscon, he told that the output data from gmapping can be fused with IMU-data in a second ekf_localization_node ( https://www.osrfoundation.org/tom-moo... ) but this is the part that I don't get.

What I was thinking is that the output from the first ekf_localization_node (Odometry message) can be used as input for the gmapping package, so that there is only 1 ekf_localization_node. If it is possible to fuse IMU-data with data from gmapping, how is it exactly done?

Extra: We also have GPS available, is it recommended to fuse this with gmapping because it was more like an OR story(or navsad, or amcl or gmapping) told in the presentation?

Kind regards, Stef

2019-05-20 01:04:12 -0500 marked best answer tf tree setup

Hello

I am new to ros and I want to use the robot_localization package to estimate the state of my real-life 2D robot and then use the navigation package to navigate the robot. My question is if the robot_localization package already provide a tf tree or do I have to set it up by myself? I am using Python to build my files. I already followed the TF-tutorials for Python but I am still confused how to set up the tree. I understand you have a broadcaster and a listener but how can I connect the frames provided by the robot_localization package? When launching "ekf_template.launch" and then doing "rosrun tf view_frames" i get "no tf data received". In the navigation package, there is a map provided by the map_server.

Kind regards, Stef

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2018-08-28 03:06:58 -0500 marked best answer Navigation package without pcl

Hello

I am looking for a navigation package which I can use to plan and follow a path in a 2D-plane. Because I am using a Raspberry PI in combination with the Navio2 (emlid Raspian OS) and a RPLidar I am not able to use the PCL library(and is also not necessary because I only use a 2D-scan I think). The OS has also no GUI. Is there some way to change the navigation package in ros so that PCL is not required? Or are there also other packages available?

Kind regards, Stef

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2018-04-05 04:04:24 -0500 commented question Gmapping and robot_localization

Yes, I want to save the map to use it later for navigating in it (slam). It doen't have to be the gmapping package but t

2018-04-05 04:01:28 -0500 commented answer Gmapping and robot_localization

So you have to write a tf listener to get the transform between odom and map frame and this node must publish an odometr

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2018-04-01 14:14:13 -0500 commented question Gmapping and robot_localization

Thanks! And what about the gmapping package, how can it be used to fuse with IMU data (and GPS data)?

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2018-04-01 04:35:37 -0500 asked a question Gmapping and robot_localization

Gmapping and robot_localization Hello We are using the robot_localization package to provide a state estimate by fusing

2018-03-30 14:08:16 -0500 commented answer Navigation package without pcl

Thanks for the answers! I think I gonna use a remote-pc to do the most calculation work(e.g. slam, navigation) to get th

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2018-03-28 13:50:33 -0500 asked a question Navigation package without pcl

Navigation package without pcl Hello I am looking for a navigation package which I can use to plan and follow a path in

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2018-03-20 16:13:11 -0500 asked a question tf tree setup

tf tree setup Hello I am new to ros and I want to use the robot_localization package to estimate the state of my real-l