Visual SLAM instead of odometry in Gmapping

asked 2019-04-16 06:31:05 -0600

shubhamv
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Gmapping of ROS Navigation uses /odom data for mapping and performing navigation. I wish to replace the /odom data by a visual SLAM. What are the changes I need to make.

answered 2019-04-16 15:12:43 -0600

stevemacenski

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updated 2019-04-16 15:13:12 -0600

No changes, you just need to have your visual slam output be of the right type on the /odom topic. There's not anything special about wheel encoder odometry. With that said your odometry will jump on loop closures for a VSLAM, so I might recommend instead using just visual odometry without loop closure.

edit: _especially_ because gmapping is a filter based slam implementation

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Turtlebot publishes the /odom data. How to silence it down and publish using my visual slam odom on it?

shubhamv ( 2019-04-16 22:44:58 -0600 )edit

You can remap the turtlebot /odom. Though gmapping doesn't use the /odom topic if I remember correctly. Only the TF updates.

stevemacenski ( 2019-04-16 23:02:43 -0600 )edit

Thanks again. Remap is exactly what I want. Where to put this attribute? I mean in which launch file?

shubhamv ( 2019-04-16 23:08:03 -0600 )edit

I can't tell without knowing more about your setup. But whatever launch file you're using to launch your turtlebot node, just use the remap tag to remap the topics! Should just work out of the box :-)

stevemacenski ( 2019-04-16 23:12:58 -0600 )edit

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