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Hi everyone, I look for a package that can compute an odometry based on laser (for a robot without odometry, of course) I have tested the odometry generated with hectorslam and it missed the Twist parameter within the odometry. Did I miss something ?

Originally posted by TomSon on ROS Answers with karma: 109 on 2015-09-14

Post score: 0


1 Answer 1


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Check out laser_scan_matcher. If all you want is odometry, hector slam is probably overkill.

Originally posted by Dan Lazewatsky with karma: 9115 on 2015-09-14

This answer was ACCEPTED on the original site

Post score: 3

Original comments

Comment by Kurt Leucht on 2015-09-14:
Is the calculation of odometry from laser scan data what people typically call "visual odometry"? I always thought they were talking about calculating odometry from a video camera feed. But this makes way way more sense.

Comment by Dan Lazewatsky on 2015-09-14:
Visual odometry does indeed refer to using camera data to calculate egomotion. I don't know if there's a good general term for using laser data for the same purpose.

Comment by TomSon on 2015-09-15:
Visual odometry is the new fashion :-) .No seriously, I prefer using a good laser for the moment. Laser_scan_matcher seems to do the job I need if I dont use hectorslam for the same purpose.

Comment by TomSon on 2015-09-15:
By the way, I will make a new thread about how I struggle to set up hectorslam and navstack on my robot (the one without odom)

Comment by Dan Lazewatsky on 2015-09-15:
Good luck. I've also had trouble getting hector slam working reliably on a robot with no odom.

Comment by TomSon on 2015-09-16:
And you succeed ?

Comment by Dan Lazewatsky on 2015-09-16:
Not really.

Comment by TomSon on 2015-09-21:
My bad, it's seems that laser_scan_matcher dont provide an odometry, that's not what I'm looking for. Sorry I was too enthousiast. Do you have another solution ?


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