Hello everyone,
last week i managed to localize my robot in my self created map.
After localization im trying to use move base and the navigation stack.
At the moment my robot can compute a global map path but the local path
is very noisy and is not following the global path.
My setup:
4 Wheel drive robot
Im publishing /map with mapserver
im using laser_scan_matcher and amcl for map->odom->base_footprint->baselink->laser (rplidar)
In addition im trying to use an Imu. My Arduino programm publishes Imu/data_raw & with imu filter Imu/data
I took the Pose information from /amcl/pose topic and the linear_acceleration.x/y and angular.z from Imu and
publish them together to /odom topic.
So my /odom takes information from:
pose = amcl/pose
twist = Imu/data
With my described setup my local path is appearing and dissapearing over time and it isnt following my global path which is pretty fine.
Thank you!
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