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implementing Localization and mapping at the same time

asked 2021-07-20 03:20:34 -0600

Delbina
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Hi everyone,

Would you please send me a link/document/video that shows the implementation of localization and mapping at the same time? up to now everything that I have seen, they did first mapping and then localization. I have not seen a video or a tutorial that shows the implementation of mapping and localization simultaneously.

Thanks

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answered 2021-07-25 12:21:40 -0600

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

I'm not sure there really is a tutorial, because it is quite straight forward but the exact launch file changes are different depending on which robot you are using. The steps are:

Remove AMCL (or whatever other localization package you are using) from your navigation launch file.
Run your mapping software. In addition to generating a map, this also outputs the base_link -> odom transformation that AMCL normally would.

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I sis not get your point! I am working with warthog (clearpath robot). I have also used rtabmap, but the problem is that first i should do mapping and then on the saved map in the database, launch rtabmap in localization mode. again in two step, mapping and localization happen. but i want to have them at the same time.

Delbina ( 2021-07-26 08:41:42 -0600 )edit

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Asked: 2021-07-20 03:20:34 -0600

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Last updated: Jul 25 '21

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