Open erickmu1 opened 4 years ago
Here are the results from attempting to extract Odometry from the LIDAR:
lidar_scan_matcher
and hector_mapping
lidar_scan_matcher
gives good "odom" estimates on Husky but drifts significantly with Caffeinelidar_scan_matcher
doesn't actually publish odom, it publishes a pose
but robot_localization
requires a Covariance
parameter as well (which we would have to add manually and is a pain)hector_mapping
can work with only a LIDAR but it serves to replace Gmapping (both publish to the /map
topic)
Description:
Goals:
robot_localization
Acceptance Criteria:
Notes: