I'm trying to set up the navigation stack on a robot possessing only odometry devices (wheel encoder, IMU, and GPS, published to
/odom /imu /gps). No camera/laser. The robot is also using
robot_state_publisher to publish the transformations between robot parts. The tree looks like this:
If I want to use only odometry sources (wheel encoder, IMU, and GPS) to navigate the robot, it seems the only frame transformation that needs to be done is
/base_footprint. I was wondering if this should be done manually or navigation stack (amcl localization?) is taking care of these two transformations?
Post score: 0
Comment by Andromeda on 2014-08-24:
Can I ask you how do you get information from /imu /gps and /odom the move your base_link? In the tutorial about setting up the navigation stack I didn t find any example. Regards