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RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
BSD 3-Clause "New" or "Revised" License
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navigation #167

Closed amina-bot closed 4 years ago

amina-bot commented 4 years ago

hi, in my project, I aim to make a 3D map with a Velodyne 16 and then have y robot navigate in the map. so I'm wondering if the LeGO-LOAM is a good choice for me?

TixiaoShan commented 4 years ago

hi, in my project, I aim to make a 3D map with a Velodyne 16 and then have y robot navigate in the map. so I'm wondering if the LeGO-LOAM is a good choice for me?

You can definitely use this package for providing the location of the robot. We have been using it for navigation on a ground robot for a while.

Kilam3811 commented 2 years ago

Hi @TixiaoShan , may I ask what package did you use for ground robot navigation from a 3D map built by LeGO-LOAM? Thank you.

aladin2022 commented 2 years ago

So the navigation task is done using a saved bag file ?

Kilam3811 commented 2 years ago

So the navigation task is done using a saved bag file ?

I reckon the bag file is just there for the LeGO-LOAM to build the map, which is needed for performing navigation tasks. You may want to have a look at the ROS navigation stack and ROS Octomap package. The latter provides a nice interface for converting 3D map built by LeGO-SLAM to a 3D occupancy grid map for navigation tasks, hopefully, the answer makes sense to you :)

aladin2022 commented 2 years ago

Hello, successfully I had obtained the 2d projected map (map. yaml /map. pgm) using octomap server, I aim to let the robot navigate using the 2D map , can I use the logo loam to localize my robot, or I should look for another localization package (amcl, robot_localisation.. etc.). Can anyone explain to me the use of the 6 DOF pose (/aft_mapped_to_init) provided by the lego loam ?