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How can I improve odom of a robot by a laserscan- what package can i use?I don't have static, global map. I found laser_scan_matcher, but I don't know if it's still supported. Maybe i should play with dynamic costmap and amcl? or maybe there is sth better? Thanks in advance


Originally posted by BP on ROS Answers with karma: 176 on 2014-03-12

Post score: 1


Original comments

Comment by jbinney on 2014-03-12:
AMCL needs a static map to match against. I've not used laser_scan_matcher but it does look promising, and there's a hydro branch in the source repo. Is using a laser scanner your only option for improving odometry?

Comment by BP on 2014-03-12:
I think it is this option, but maybe i am wrong. What kind of improvement there exist (i know about IMU and this laser-scan-mach)

Comment by jbinney on 2014-03-13:
If you have a cmaera, visual odometry is pretty common (track visual features using cameras). Here's a ROS package that does visual odometry: http://wiki.ros.org/viso2_ros

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You can also setup hector_mapping to provide odometry. In the "correct_odometry_publisher" branch there are some changes and this example launch file that has already been used for faking odometry on a robot to provide it to AMCL.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2014-03-12

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Original comments

Comment by BP on 2014-03-12:
This looks nice, but It provides odmo, not enchances one, right? I assume I'd have to make my own node to make this 2 odom sources "work together".

Comment by Mani on 2016-10-06:
You can fuse two sources of odometry together with a Kalman filter, which if configured properly will improve your base odometry. robot_localization package provide a very nice and easy-to-integrate EKF implementation: http://wiki.ros.org/robot_localization

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maybe gmapping


Originally posted by Hamid Didari with karma: 1769 on 2014-03-12

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